Jesús M. García, Jorge L. Martínez, A. Mandow, A. García-Cerezo
{"title":"Steerability analysis on slopes of a mobile robot with a ground contact arm","authors":"Jesús M. García, Jorge L. Martínez, A. Mandow, A. García-Cerezo","doi":"10.1109/MED.2015.7158761","DOIUrl":null,"url":null,"abstract":"Mobile robot navigation through sloped terrains is a relevant problem for field robotics. In this context, mobile manipulators can improve tip-over stability by exerting ground contact with the end-effector of the onboard arm. However, this contact can affect vehicle steerability. This paper proposes a case study on the effect of arm ground contact on skid steering locomotion on inclined surfaces. To this end, a new four-wheeled mobile robot has been specifically designed with an onboard arm to provide one additional support point. Experimental results are obtained via ADAMS simulations on undulating surfaces, and include a comparison with center-of-gravity control for non-contact tip-over stability.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 23rd Mediterranean Conference on Control and Automation (MED)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2015.7158761","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 12
Abstract
Mobile robot navigation through sloped terrains is a relevant problem for field robotics. In this context, mobile manipulators can improve tip-over stability by exerting ground contact with the end-effector of the onboard arm. However, this contact can affect vehicle steerability. This paper proposes a case study on the effect of arm ground contact on skid steering locomotion on inclined surfaces. To this end, a new four-wheeled mobile robot has been specifically designed with an onboard arm to provide one additional support point. Experimental results are obtained via ADAMS simulations on undulating surfaces, and include a comparison with center-of-gravity control for non-contact tip-over stability.
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