Cart (Loading....) | Create Account
Close category search window
 

Real-world validation of three tipover algorithms for mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Roan, P.R. ; Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA ; Burmeister, A. ; Rahimi, A. ; Holz, K.
more authors

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.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.