A Study of Tipping Stability for Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies

被引：0
|
作者：
Safar, M. Juhairi Aziz [1 ]
Watanabe, Keigo [1 ]
Maeyama, Shoichi [1 ]
Nagai, Isaku [1 ]
机构：
[1] Okayama Univ, Grad Sch Nat Sci & Technol, Dept Intelligent Mech Syst, Kita Ku, 3-1-1 Tsushima Naka, Okayama 7008530, Japan
来源：
PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12) | 2012年
关键词：
Tip-over; Roll-over; Stability; Balancing; PLATFORM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A holonomic omnidirectional mobile robot is well known for a high mobility and capability in maneuvering. In our approach, the holonomic omnidirectional mobile robot was developed using two active dual-wheel caster assemblies with conventional tires. In this paper, we are focusing on the stability issues in the tipping problem that may occur in the existing of static and dynamic environments. We derive the dynamic model of the omnidirectional mobile robot to estimate the supporting force at each wheel and evaluate it through simulations.
引用
收藏
页码：192 / 195
页数：4
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