Skip to main content
SpringerLink
Log in

A study of tipping stability for omnidirectional mobile robot with active dual-wheel caster assemblies

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

A holonomic omnidirectional mobile robot with active dual-wheel caster assemblies is proposed as a robotic transport vehicle. With concern to the existence of sudden acceleration and other dynamical effects during maneuver, the tip-over instability monitoring is very important to prevent any unexpected injuries and property damage. This work presents the preventive method of the tip-over occurrence by estimating the tipping direction and stability metrics. The dynamical model of the omnidirectional mobile robot is derived to estimate the net force from the supporting reaction force at each wheel which is caused by the inertial and external forces. The direction of tipping and stability metric is estimated using moments stability measure. The performance of the tip-over prediction for an omnidirectional mobile robot with active dual-wheel assemblies is shown by the conducted simulations.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

References

  1. Lin SC, Tsai CC, Huang HC (2011) Adaptive robust self-balancing and steering of a two-wheeled human transportation vehicle. J Intell Robot Syst 62:103–123

    Article  Google Scholar 

  2. Udengaard M, Iagnemma K (2009) Analysis, design, and control of an omnidirectional mobile robot in rough terrain. ASME Mech Des 131(12)

  3. Wada M (2007) Omnidirectional and holonomic mobile platform with four-wheel-drive mechanism for wheelchairs. Robotics Mechatron 19(3):264–265

    Google Scholar 

  4. Sardain P, Bessonnet G (2004) Forces acting on a biped robot center of pressure-zero moment point. IEEE Trans Syst Man Cybern Part A: Syst Hum 34:630–637

    Article  Google Scholar 

  5. Huang Q, Sugano S, Kato I (1994) Stability control for a mobile manipulator using a potential method. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 839–846

  6. Messuri DA, Klein CA (1985) Automatic body regulation for maintaining stability of a legged vehicle during rough-terrain locomotion. IEEE Robotics Autom 1:132–141

    Google Scholar 

  7. Hirose S, Tsukagoshi H, Yoneda K (2001) Normalized energy stability margin and its contour of walking vehicles on rough terrain. Proc IEEE Int Conf Robotics Autom 1:181–186

    Google Scholar 

  8. Yamada T, Watanabe K, Kiguchi K (2001) Dynamic model and control for a holonomic omnidirectional mobile robot. Auton Robots 11:173–189

    Article  MATH  Google Scholar 

  9. Han F, Yamada T, Watanabe K et al (2000) Construction of an omnidirectional mobile robot platform based on active dual-wheel caster mechanisms and development of a control simulator. Intell Robotic Syst 29:257–275

    Article  MATH  Google Scholar 

  10. Papadopoulos EG, Rey DA (2000) The force-angle measure of tipover stability margin for mobile manipulators. Veh Syst Dyn 33:29–48

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, 700-8530, Japan

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

Authors
  1. M. Juhairi Aziz Safar
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Keigo Watanabe
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Shoichi Maeyama
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Isaku Nagai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to M. Juhairi Aziz Safar.

About this article

Cite this article

Safar, M.J.A., Watanabe, K., Maeyama, S. et al. A study of tipping stability for omnidirectional mobile robot with active dual-wheel caster assemblies. Artif Life Robotics 17, 145–151 (2012). https://doi.org/10.1007/s10015-012-0031-7

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-012-0031-7

Keywords

Search

Navigation