Tip-over Prevention for holonomic omnidirectional mobile robot with ADWCs

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

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

Abstract

This paper addresses the tip-over prevention technique for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies (ADWCs). The tip-over estimator that takes into account the static and dynamic effects is presented. The dynamical model is derived to estimate the reaction forces at each wheel in correlation to the existing dynamical properties. A tip-over estimation using the force-Angle stability measure is used to evaluate these forces and predict the candidate of the tip-over axis and its tipping direction. A counter motion is applied against the estimated tip-over direction to enhance the stability metric and prevent the tip-over incident. Simulation results are given to demonstrate the performance of this approach.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2738-2742
Number of pages5
Publication statusPublished - 2013
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: Sep 14 2013Sep 17 2013

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period9/14/139/17/13

Fingerprint

Mobile robots
Wheels

Keywords

  • Dynamic footprint
  • Gyroscopic stabilization
  • Holonomic omnidirectional mobile robot
  • Tip-over

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Safar, M. J. A., Watanabe, K., Maeyama, S., & Nagai, I. (2013). Tip-over Prevention for holonomic omnidirectional mobile robot with ADWCs. In Proceedings of the SICE Annual Conference (pp. 2738-2742)

Tip-over Prevention for holonomic omnidirectional mobile robot with ADWCs. / Safar, M. Juhairi Aziz; Watanabe, Keigo; Maeyama, Shoichi; Nagai, Isaku.

Proceedings of the SICE Annual Conference. 2013. p. 2738-2742.

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

Safar, MJA, Watanabe, K, Maeyama, S & Nagai, I 2013, Tip-over Prevention for holonomic omnidirectional mobile robot with ADWCs. in Proceedings of the SICE Annual Conference. pp. 2738-2742, 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan, 9/14/13.
Safar MJA, Watanabe K, Maeyama S, Nagai I. Tip-over Prevention for holonomic omnidirectional mobile robot with ADWCs. In Proceedings of the SICE Annual Conference. 2013. p. 2738-2742
Safar, M. Juhairi Aziz ; Watanabe, Keigo ; Maeyama, Shoichi ; Nagai, Isaku. / Tip-over Prevention for holonomic omnidirectional mobile robot with ADWCs. Proceedings of the SICE Annual Conference. 2013. pp. 2738-2742
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