Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG

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

doi:10.1109/ICMA.2013.6618002

Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

In this paper, we present the tip-over prevention technique for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies (ADWCs). The dynamical model is derived to estimate the reaction forces at each wheel in correlation to the existing dynamical properties. A tip-over prediction using the force-angle stability measure (FASM) is used to evaluate these forces and estimate the tip-over axis and its direction. A counter motion is applied against the estimated tip-over direction to prevent the tip-over incident. Simulation results are given to demonstrate the performance of this approach.

Original language	English
Title of host publication	2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages	704-709
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2013.6618002
Publication status	Published - Nov 25 2013
Event	2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan Duration: Aug 4 2013 → Aug 7 2013

Publication series

Name	2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

Other	2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Country/Territory	Japan
City	Takamastu
Period	8/4/13 → 8/7/13

Keywords

Tip-over
omnidirectional mobile robot
stability

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMA.2013.6618002

Cite this

Safar, M. J. A., Watanabe, K., Maeyama, S., & Nagai, I. (2013). Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 704-709). [6618002] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6618002

Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG. / Safar, M. Juhairi Aziz; Watanabe, Keigo; Maeyama, Shoichi et al.

2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. p. 704-709 6618002 (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Safar, MJA, Watanabe, K, Maeyama, S & Nagai, I 2013, Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG. in 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013., 6618002, 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, pp. 704-709, 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, Takamastu, Japan, 8/4/13. https://doi.org/10.1109/ICMA.2013.6618002

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abstract = "In this paper, we present the tip-over prevention technique for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies (ADWCs). The dynamical model is derived to estimate the reaction forces at each wheel in correlation to the existing dynamical properties. A tip-over prediction using the force-angle stability measure (FASM) is used to evaluate these forces and estimate the tip-over axis and its direction. A counter motion is applied against the estimated tip-over direction to prevent the tip-over incident. Simulation results are given to demonstrate the performance of this approach.",

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AB - In this paper, we present the tip-over prevention technique for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies (ADWCs). The dynamical model is derived to estimate the reaction forces at each wheel in correlation to the existing dynamical properties. A tip-over prediction using the force-angle stability measure (FASM) is used to evaluate these forces and estimate the tip-over axis and its direction. A counter motion is applied against the estimated tip-over direction to prevent the tip-over incident. Simulation results are given to demonstrate the performance of this approach.

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Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG

Abstract

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Keywords

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