Tip-over stability prediction for a holonomic omnidirectional transport mobile robot

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

doi:10.1109/SCIS-ISIS.2012.6505217

Tip-over stability prediction for a holonomic omnidirectional transport mobile robot

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

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

1 Citation (Scopus)

Abstract

This paper presents a study on tip-over prediction for a holonomic omnidirectional transport mobile robot with active dual-wheel caster (ADWC) assemblies. With concern to the dynamic supporting polygon and the existence of sudden dynamic changes during maneuver, the tip-over stability monitoring and its prevention becomes important. The candidate of tip-over axis and its direction is estimated by the combination of dynamical model and force-angle stability measure (FASM). In this paper, the effect of different loads and center of gravity is examined to analyze their relationship to the tip-over stability measurement. The performance of this prediction method is shown by the conducted simulations.

Original language	English
Title of host publication	6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
Pages	763-768
Number of pages	6
DOIs	https://doi.org/10.1109/SCIS-ISIS.2012.6505217
Publication status	Published - Dec 1 2012
Event	2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe, Japan Duration: Nov 20 2012 → Nov 24 2012

Publication series

Name	6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012

Other

Other	2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
Country	Japan
City	Kobe
Period	11/20/12 → 11/24/12

ASJC Scopus subject areas

Artificial Intelligence
Software

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Juhairi Aziz Safar, M., Watanabe, K., Maeyama, S., & Nagai, I. (2012). Tip-over stability prediction for a holonomic omnidirectional transport mobile robot. In 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012 (pp. 763-768). [6505217] (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012). https://doi.org/10.1109/SCIS-ISIS.2012.6505217

Tip-over stability prediction for a holonomic omnidirectional transport mobile robot. / Juhairi Aziz Safar, M.; Watanabe, Keigo; Maeyama, Shoichi; Nagai, Isaku.

6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. p. 763-768 6505217 (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012).

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

Juhairi Aziz Safar, M, Watanabe, K, Maeyama, S & Nagai, I 2012, Tip-over stability prediction for a holonomic omnidirectional transport mobile robot. in 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012., 6505217, 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012, pp. 763-768, 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012, Kobe, Japan, 11/20/12. https://doi.org/10.1109/SCIS-ISIS.2012.6505217

Juhairi Aziz Safar M, Watanabe K, Maeyama S, Nagai I. Tip-over stability prediction for a holonomic omnidirectional transport mobile robot. In 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. p. 763-768. 6505217. (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012). https://doi.org/10.1109/SCIS-ISIS.2012.6505217

Juhairi Aziz Safar, M. ; Watanabe, Keigo ; Maeyama, Shoichi ; Nagai, Isaku. / Tip-over stability prediction for a holonomic omnidirectional transport mobile robot. 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. pp. 763-768 (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012).

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