Longitudinal and Lateral Stability of Mobile Wheeled Robots - Method of the Surrounding Pyramidal Surface

A method is proposed for calculating the lateral and longitudinal stability of mobile wheeled robots, by determining resultant vectors of inertial forces and accelerations, with the mass center of the robot as an application point of representatives of these resultant vectors. An area in space is defined such that, if it contains the representatives of the resultant vectors of the inertial forces and accelerations, with the point of application the center of mass, then the wheeled mobile robot is in a stable state at rest or in motion. At its core, this method contains D'Alembert's principle for an equilibrium system of forces.