Tip-over prediction for omnidirectional mobile robot

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies as a robotic transport vehicle. With concern to the sudden dynamic changes during maneuver, the tip-over stability monitoring is very important. This work presents the estimation technique of the tip-over direction and the stability measurement. 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 the stability metric is estimated using the force-angle stability mea- sure (FASM). 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
Title of host publicationProcedia Engineering
PublisherElsevier Ltd
Pages1085-1094
Number of pages10
Volume41
DOIs
Publication statusPublished - 2012
Event2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia
Duration: Sep 4 2012Sep 6 2012

Other

Other2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012
CountryMalaysia
CityKuching, Sarawak
Period9/4/129/6/12

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Keywords

  • Active dual-wheel caster
  • Omnidirectional mobile robot
  • Roll-over
  • Stability
  • Tip-over

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Safar, M. J. A., Watanabe, K., Maeyama, S., & Nagai, I. (2012). Tip-over prediction for omnidirectional mobile robot. In Procedia Engineering (Vol. 41, pp. 1085-1094). Elsevier Ltd. https://doi.org/10.1016/j.proeng.2012.07.287