Reseach on a new approach of auto self-balancing for rescue robot on uneven terrain

Feng, Jiabo; Zhang, Weijun; Guo, Gaofeng

doi:10.1109/robio.2017.8324397

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…Agheli and Nestinger [22] presented a multilegged reactive stability control method for maintaining system stability under external perturbations. Feng et al [23] introduced a new method for evaluating the stability of robots in rugged terrain and proposed an algorithm for automatically realizing self-balancing of robots. Kashyap and Parhi [24] utilized the LIPM plus flywheel model (LIPPFM) for analysis of the complete dynamic motion of the humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion

Sun

et al. 2021

Journal of Robotics

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Tip-over stability analysis is critical for the success of mobile manipulation of the dual arm, especially in the cases that the dual arm or the mobile platform moves rapidly. Due to strong dynamics coupling between the dual arm and mobile platform, online evaluation of dynamic stability of the mobile dual-arm robot still remains challenging. This paper presents an improved tip-over moment stability criterion dealing with the dual arm and mobile platform interaction and proposes an algorithm for calculating the tip-over stability margin of the arm end in the workspace to analyze the dynamic stability of the wheeled mobile dual-arm robot. The simulations on a four-wheeled mobile dual-arm robot validate the correctness and feasibility of the proposed method.

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Section: Introductionmentioning

confidence: 99%