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

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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Walking Stability Analysis of Multi-Legged Crablike Robot over Slope

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.572.636 ◽

2013 ◽

Vol 572 ◽

pp. 636-639

Author(s):

Xi Chen ◽

Gang Wang

Keyword(s):

Mathematical Model ◽

Stability Analysis ◽

Stability Criterion ◽

Stability Margin ◽

Static Stability ◽

Matlab Simulation ◽

And Performance ◽

The Stability ◽

The Mathematical Model ◽

The Relationship

This paper deals with the walking stability analysis of a multi-legged crablike robot over slope using normalized energy stability margin (NESM) method in order to develop a common stabilization description method and achieve robust locomotion for the robot over rough terrains. The robot is simplified with its static stability being described by NESM. The mathematical model of static stability margin is built so as to carry out the simulation of walking stability over slope for the crablike robot that walks in double tetrapod gait. As a consequence, the relationship between stability margin and the height of the robots centroid, as well as its inclination relative to the ground is calculated by the stability criterion. The success and performance of the stability criterion proposed is verified through MATLAB simulation and real-world experiments using multi-legged crablike robot.

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Dynamic stability analysis based on state-space model and Lyapunov's stability criterion for SiC-MOS and Si-IGBT switching

2018 IEEE 30th International Symposium on Power Semiconductor Devices and ICs (ISPSD) ◽

10.1109/ispsd.2018.8393654 ◽

2018 ◽

Author(s):

Xiao Zeng ◽

Zehong Li ◽

Yuzhou Wu ◽

Wei Gao ◽

Jinping Zhang ◽

...

Keyword(s):

Stability Analysis ◽

State Space ◽

Dynamic Stability ◽

Stability Criterion ◽

State Space Model ◽

Space Model

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Dynamic stability analysis of a tracked mobile robot based on human–robot interaction

Assembly Automation ◽

10.1108/aa-10-2018-0156 ◽

2019 ◽

Vol 40 (1) ◽

pp. 143-154

Author(s):

Chengguo Zong ◽

Zhijian Ji ◽

Haisheng Yu

Keyword(s):

Stability Analysis ◽

Mobile Robot ◽

Dynamic Stability ◽

Stability Criterion ◽

Human Robot Interaction ◽

Theoretical Principle ◽

Robot Interaction ◽

Content Type ◽

Tracked Mobile Robot ◽

Climbing Stairs

Purpose This paper aims to provide a theoretical principle for the stability control of robot climbing stairs, autonomously based on human–robot interaction. Through this research, tracked mobile robots with human-robot interaction will be extensively used in rescue in disaster, exploration on planetary, fighting in battle, and searching for survivors in collapsed buildings. Design/methodology/approach This paper introduces the tracked mobile robot, based on human–robot interaction, and its six moving postures. The dynamic process of climbing stairs is analyzed, and the dynamic model of the robot is proposed. The dynamic stability criterion is derived when the tracked mobile robot contacts the stairs steps in one, two and more points. A further conduction of simulation on the relationship of the traction force and bearing force vs the velocity and acceleration in the three cases was carried out. Findings This paper explains that the tracked mobile robot, based on human–robot interaction, can stably climb stairs so long as the velocity and acceleration satisfy the dynamic stability criterion as noted above. In addition, the experiment tests the correctness of dynamic stability analysis when the tracked mobile robot contacts the stair steps in one, two or more points. Originality/value This paper provides the mechanical structure and working principle of the tracked mobile robot based on human–robot interaction and proposes an identification method of dynamic stability criterion when the robot contacts the stairs steps in one, two and more points.

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