NDLI: Tip-over stability examination of a compliant anthropomimetic mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Bascarevic, N. Jovanovic, K. Milosavljevic, P. Potkonjak, V. Holland, O.
Copyright Year	2012
Description	Author affiliation: School of Informatics, University of Sussex, Brighton BN1 9 QJ, Falmer, United Kingdom (Holland, O.) \|\| Faculty of Electrical Engineering, University of Belgrade, Bulevar kralja Aleksandra 73, 11000, Serbia (Bascarevic, N.; Jovanovic, K.; Milosavljevic, P.; Potkonjak, V.)
Abstract	This paper presents a wheeled humanoid robot as a structure composed by upper human-like body and mobile platform. The cart construction is supported by two driving wheels and one caster wheel and subjected to nonholonomic kinematic constraints. The real system configuration of the upper body and its model are represented as a fully anthropomimetic, compliant robot with antagonistic coupled drives. In order to ensure stability of the robot position, the robust control is evaluated. In this paper the focus is not on synthesis of local controllers, but the goal is examination of the limits of the adopted robot control strategy and robot handling with disturbance following from the cart motion (analysis of tip-over stability). In order to avoid tipping over and relying on the Zero Moment Point calculation and control algorithm, the appropriate construction (dimensions) of the cart is adopted. Finally, some simulations are carried out and the influence of different cart movements on the robot balance is analyzed by comparing different cases.
Starting Page	1584
Ending Page	1589
File Size	366546
Page Count	6
File Format	PDF
ISBN	9781467345033
ISSN	10851992
e-ISBN	9781467345057
e-ISBN	9781467345040
DOI	10.1109/CCA.2012.6402718
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-03
Publisher Place	Croatia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Mobile robots Robot kinematics Stability analysis Mobile communication Wheels
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Kinematics and tip-over stability analysis for a mobile humanoid robot moving on a slope

Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot

Static force analysis for a mobile humanoid robot moving on a slope

The kinematics solution and error analysis of a type of Mobile Parallel Robot (MPR)

Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG

Tracking control for snake robot joints

Analysis of dynamic stability constraints for a mobile humanoid robot

Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon

Comparing two online tip-over avoidance algorithms for mobile manipulators

Tip-over stability examination of a compliant anthropomimetic mobile robot

Similar Documents

Kinematics and tip-over stability analysis for a mobile humanoid robot moving on a slope

Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot

Static force analysis for a mobile humanoid robot moving on a slope

The kinematics solution and error analysis of a type of Mobile Parallel Robot (MPR)

Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG

Tracking control for snake robot joints

Analysis of dynamic stability constraints for a mobile humanoid robot

Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon

Comparing two online tip-over avoidance algorithms for mobile manipulators

Tip-over stability examination of a compliant anthropomimetic mobile robot