A study of tipping stability for omnidirectional mobile robot with active dual-wheel caster assemblies

M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

A holonomic omnidirectional mobile robot with active dual-wheel caster assemblies is proposed as a robotic transport vehicle. With concern to the existence of sudden acceleration and other dynamical effects during maneuver, the tip-over instability monitoring is very important to prevent any unexpected injuries and property damage. This work presents the preventive method of the tip-over occurrence by estimating the tipping direction and stability metrics. The dynamical model of the omnidirectional mobile robot is derived to estimate the net force from the supporting reaction force at each wheel which is caused by the inertial and external forces. The direction of tipping and stability metric is estimated using moments stability measure. The performance of the tip-over prediction for an omnidirectional mobile robot with active dual-wheel assemblies is shown by the conducted simulations.

Original languageEnglish
Pages (from-to)145-151
Number of pages7
JournalArtificial Life and Robotics
Volume17
Issue number1
DOIs
Publication statusPublished - Oct 1 2012

Keywords

  • Holonomic
  • Omnidirectional mobile robot
  • Roll over
  • Stability
  • Tip over

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence

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