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 proceedingConference 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 languageEnglish
Title of host publication6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
Pages763-768
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Event2012 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 2012Nov 24 2012

Publication series

Name6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012

Other

Other2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
CountryJapan
CityKobe
Period11/20/1211/24/12

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software

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  • Cite this

    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