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

doi:10.1109/IROS.2013.6697058

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 proceeding › Conference contribution

4 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 language	English
Title of host publication	IROS 2013
Subtitle of host publication	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	4866-4871
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2013.6697058
Publication status	Published - Dec 1 2013
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: Nov 3 2013 → Nov 8 2013

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/Territory	Japan
City	Tokyo
Period	11/3/13 → 11/8/13

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2013.6697058

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 IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4866-4871). [6697058] (IEEE International Conference on Intelligent Robots and Systems). 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 et al.

IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 4866-4871 6697058 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6697058, IEEE International Conference on Intelligent Robots and Systems, 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 MJA, Watanabe K, Maeyama S, Nagai I. Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMG. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 4866-4871. 6697058. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2013.6697058

Safar, M. Juhairi Aziz ; Watanabe, Keigo ; Maeyama, Shoichi et al. / Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMG. IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. pp. 4866-4871 (IEEE International Conference on Intelligent Robots and Systems).

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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.",

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AB - 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.

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

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