Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMG

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

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

2 Citations (Scopus)

Abstract

In this paper, we present the tip-over prevention technique using a control moment gyro for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies. With concern to the sudden dynamic changes during maneuver, the dynamical model is derived and used together with the force-angle stability measure (FASM) to estimate the tip-over incident and the tipping direction. A single gimbal control moment gyro (SGCMG) is proposed to counter the instability by producing a precession torque in the opposite direction of the estimated tip-over direction. Simulation results are given to demonstrate the performance of this approach.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages4866-4871
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

Fingerprint

Mobile robots
Wheels
Torque

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Safar, M. J. A., Watanabe, K., Maeyama, S., & Nagai, I. (2013). Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMG. In IEEE International Conference on Intelligent Robots and Systems (pp. 4866-4871). [6697058] https://doi.org/10.1109/IROS.2013.6697058

Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMG. / Safar, M. Juhairi Aziz; Watanabe, Keigo; Maeyama, Shoichi; Nagai, Isaku.

IEEE International Conference on Intelligent Robots and Systems. 2013. p. 4866-4871 6697058.

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

Safar, MJA, Watanabe, K, Maeyama, S & Nagai, I 2013, Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMG. in IEEE International Conference on Intelligent Robots and Systems., 6697058, pp. 4866-4871, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 11/3/13. https://doi.org/10.1109/IROS.2013.6697058
Safar, M. Juhairi Aziz ; Watanabe, Keigo ; Maeyama, Shoichi ; Nagai, Isaku. / Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMG. IEEE International Conference on Intelligent Robots and Systems. 2013. pp. 4866-4871
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