Tip-over prediction for omnidirectional mobile robot

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

Research output: Contribution to journalConference article

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
Pages (from-to)1085-1094
Number of pages10
JournalProcedia Engineering
Volume41
DOIs
Publication statusPublished - Jan 1 2012
Event2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia
Duration: Sep 4 2012Sep 6 2012

Keywords

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

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Tip-over prediction for omnidirectional mobile robot'. Together they form a unique fingerprint.

Cite this