NDLI: Real-world validation of three tipover algorithms for mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Roan, P.R. Burmeister, A. Rahimi, A. Holz, K. Hooper, D.
Copyright Year	2010
Description	Author affiliation: SPAWAR Systems Center Pacific, San Diego, CA 92152, USA (Burmeister, A.; Rahimi, A.; Holz, K.; Hooper, D.) \|\| Department of Electrical Engineering, University of Washington, Seattle, 98195, USA (Roan, P.R.)
Abstract	Mobile robot tipover is a concern as it can create dangerous situations for operators and bystanders, cause collateral damage to the surrounding environment, and result in an aborted mission. Algorithms have been developed by others to assess the stability of the robot, and many of these algorithms have been demonstrated using simulated data. In order to verify that these algorithms accurately match real-world behavior, we have collected data of a mobile robot tipping over and then compared this data to the stability measures provided by three algorithms: Zero-Moment Point (ZMP), Force-Angle stability measure (FA), and Moment-Height Stability measure (MHS). A small mobile robot platform based on the iRobot PackBot drove a course including ramps and obstacles; an IMU and GPS provided inertial and positional data for the algorithms, and the actual tipover event is determined from video footage of the tests. The average normalized measure at tipover event initiation was found to be 0.665 for ZMP, −0.094 for FA, and 0.023 for MHS, where a value of 1 corresponds to resting stability. Standard deviations were 0.38, 0.84, and 0.67, respectively. The measures show a significant amount of noise, which is likely due to the vibrations caused by movement of the tracks and could be reduced by employing additional filtering during data collection. The preliminary real-world data validates these tipover algorithms as able to assess robot stability, and they can be used as part of a tipover avoidance system.
Starting Page	4431
Ending Page	4436
File Size	883462
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509506
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Stability Force measurement Vibration measurement Global Positioning System Testing Noise measurement Noise reduction Tracking Filtering
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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