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 proceedingConference contribution

1 Citation (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 languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages704-709
Number of pages6
DOIs
Publication statusPublished - Nov 25 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: Aug 4 2013Aug 7 2013

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period8/4/138/7/13

Keywords

  • Tip-over
  • omnidirectional mobile robot
  • stability

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • 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