On-line stability margin and attitude estimation for dynamic articulating mobile robots

International Journal of Robotics Research

Volumn 24, Issue 10, 2005, Pages 845-866

  Diaz Calderon, Antonio ^a   Kelly, Alonzo ^b  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^b CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

Attitude estimation; Field robot; Mobile robot; Optimal estimation; Rollover prevention; Stability margin

Indexed keywords

HEAVY LOADS; ON-LINE STABILITY MARGIN; OPTIMAL ESTIMATION; VELOCITY SENSING;

ONLINE SYSTEMS; PROBLEM SOLVING;

MOBILE ROBOTS;

EID: 27144549586     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364905057865     Document Type: Article

References (45)

1. Barshan, B. and Durrant-Whyte, H. F. 1995. Inertial navigation systems for mobile robots. IEEE Transactions on Robotics and Automation 11(3):328-342.
2. Blakenship, J. W., Means, K. H., and Biller, C. J. 1984. Side slopes static stability of double articulated logging tractors. Society of Automotive Engineers Technical Paper No. 841140.
3. Chrstos, J. P. and Guenther, D. A. 1992. The measurement of static rollover metrics. Society of Automotive Engineers Technical Paper No. 920582.
4. Conte, S. D. and De Boor, C. W. 1980. Elementary Numerical Analysis: An Algorithmic Approach, International Series in Pure and Applied Mathematics, 3rd edition, McGraw-Hill Higher Education, New York.
5. Davidson, J. K. and Schweitzer, G. 1990. A mechanics based computer algorithm for displaying the margin of static stability in four legged vehicles. Transactions of the ASME, Journal of Mechanical Design 112:480-487.
6. Dubowsky, A. and Vance, E. E. 1989. Planning mobile manipulator motions considering vehicle dynamic stability constraints. Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, AZ, Vol. 3. pp. 1271-1276.
7. Dugoff, H., Fancher, P., and Segel, L. 1970. An analysis of tire traction properties and their influence on vehicle dynamic performance. Society of Automotive Engineers Technical Paper No. 7000377.
8. Fukuda, T., Fujisawa, Y., Kosuge, K., Arai, F., Muro, E., Hoshino, H., Miyazaki, T., Utubo, K., and Uehara, K. 1992. Manipulator/vehicle system for man-robot cooperation. Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France, Vol. 1, pp. 74-79.
9. Genta, G. 1999. Motor Vehicle Dynamics: Modeling and Simulation, Vol. 43 of Series on Advances in Mathematics for Applied Sciences, World Scientific, Singapore.
10. Ghasempoor, A. and Sepehri, N. 1995. A measure of machine stability of moving base manipulators. Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, Vol. 3, pp. 2249-2254.
11. Gillespie, T. D. 1992. Fundamentals of Vehicle Dynamics, Society of Automotive Engineers, Warrendale, PA.
12. Hildebrand, M. 1965. Symmetrical gaits of horses. Science 150:701-708.
13. Hinch, J., Shadle, S., and Klein, T. M. 1992. NHTSA's rollover rulemaking program: results of testing and analysis. Society of Automotive Engineers Technical Paper No. 920581.
14. Hirose, S., Nose, M., Kikuchi, H., and Umentani, Y. 1983. Adaptive gait control of a quadruped walking vehicle. Robotics Research, M. Brady and R. Paul, editors, MIT Press, Cambridge, MA, pp. 253-277.
15. Iagnemma, K., Rzepniewski, A., Dubowsky, S., Pirjanian, P., Huntsberger, T., and Schenker, P. 2000. Mobile robot kinematic reconfigurability for rough terrain. Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196.
16. Iagnemma, K., Rzepniewski, A., Dubowsky, S., and Schenker, P. 2003. Control of robotic vehicles with actively artic ulated suspensions in rough terrain. Autonomous Robots 14:5-16.
17. Jones, I. S. and Penny, M. B. 1990. Engineering parameters related to rollover frequency. Society of Automotive Engineers Technical Paper No. 900104.
18. Klein, C. A., Olson, K. W., and Pugh, D. R. 1983. Use of force and attitude sensors for locomotion of a legged vehicle over irregular terrain. International Journal of Robotics Research 2(2):3-17.
19. Kong, H. and Wallner, E. J. 1999. Automotive rollover angular rate sensors and evaluation. International Congress and Exposition, Detroit, MI, Society of Automotive Engineers Technical Paper No. 1999-01-0430.
20. Li, Y. and Frank, A. A. 1986. A moving base robot. American Control Conference, Seattle, WA, pp. 1927-1932.
21. McGhee, R. B. and Frank, A. A. 1968. On the stability properties of quadruped creeping gait. Mathematical Biosciences 3(2):331-351.
22. McGhee, R. B. and Iswandhi, G. I.1979. Adaptive locomotion of a multilegged robot over rough terrain. IEEE Transactions on Systems, Man and Cybernetics 9(4): 176-182.
23. McGhee, R. B., Ozguner, F., and Tsai, S. J. 1984. Rough terrain locomotion by a hexapod robot using a binocular ranging system. Robotics Research, M. Brady and R. Paul, editors, MIT Press, Cambridge, MA, pp. 227-251.
24. Maybeck, P. S. 1982. Stochastic Models, Estimation and Control, Vol. 141-1, Academic Press, Paris.
25. Messuri, D. A. and Klein, C. A. 1985. Automatic body regulation for maintaining stability of a legged vehicle during terrain locomotion. IEEE Journal of Robotics and Automation 1(3): 132-141.
26. Muybridge, E. 1957. Animals in Motion, Dover, New York.
27. Papadopoulos, E. G. and Rey, D. A. 1996. A new measure of tipover stability margin for mobile manipulators. Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN.
28. Papadopoulos, E. G. and Rey, D. A. 2000. The force-angle measure of tipover stability margin for mobile manipulators. Vehicle System Dynamics 33:29-48.
29. Raibert, M. H. 1983. Dynamic stability and resonance in a one-legged hopping machine. Proceedings of RoManSy '81, Warsaw, Poland, A. Morecki, G. Bianchi, and K. Kedzior, editors, pp. 352-367.
30. Rey, D. A. and Papadoupulos, E. G. 1997. On-line automatic tipover prevention for mobile manipulators. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Grenoble, France.
31. Roumeliotis, S. I., Johnson, A. E., and Montgomery, J. F. 2002. Augmenting inertial navigation with image-based motion estimation. Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, May 11-15, pp. 4326-4333.
32. Rudolph, A. 2003. Quantification and estimation of differential odometry errors in mobile robotics with redundant sensor information. International Journal of Robotics Research 22(2): 117-128.
33. Schramm, H., Hecker, F., Jundt, O., Dieter, K., and Faye, I. 1997. Vehicle dynamics control for commercial vehicles. International Truck and Bus Meeting and Exposition, Cleveland, OH, Society of Automotive Engineers Technical Paper No. 973284.
34. Shen, C. N. and Kim, C. S. 1980. A laser rangefinder path selection system for martian rover using logarithmic scanning scheme. Automatic Control in Space. Proceedings of the 8th IFAC Symposium. C. W. Munday, editor, Pergamon Press, Oxford, UK, pp. 323-330.
35. Shiller, Z. and Gwo, Y. R. 1991. Dynamic motion planning of autonomous vehicles. IEEE Transactions on Robotics and Automation 7(2):241-249.
36. Song, S. M. and Waldron, K. 1989. Machines that Walk, MIT Press, Cambridge, MA.
37. Sreenivasan, S. V. and Wilcox, B. H. 1994. Stability and traction control of an actively actuated micro-rover. Journal of Robotics Systems 11(6):487-502.
38. Steiner, P., Weidel, P., Kublbeck, H., Steurer, H., Hora, P., and Zechmair, D. 1997. Rollover detection. Society of Automotive Engineers Technical Paper No. 970606.
39. Sugano, S., Huang, Q., and Kato, I. 1993. Stability criteria in controlling mobile robotic systems. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, pp. 832-838.
40. Sukkarieh, S., Nebot, E. M., and Durrant-Whyte, H. F. 1999. A high integrity IMU/GPS navigation loop for autonomous land vehicle applications. IEEE Transactions on Robotics and Automation 15(3):572-578.
41. UMTRI. 1991. Mechanics of heavy duty trucks and truck combinations. Technical Report UMTRI-80868, Transportation Research Institute, University of Michigan. Engineering Summer Conferences.
42. Vukobratovic, M., Frank, A., and Juricic, D. 1970. On the stability of biped locomotion. IEEE Transactions on Biomedical Engineering 17(1):25-36.
43. Wallner, E. and Schiffmann, J. K. 2000. Development of an automotive rollover sensor. SAE 2000 Automotive Dynamics and Stability Conference, Detroit, MI, Society of Automotive Engineers Technical Paper No. 2000-01-1651.
44. Wettergreen, D. and Thorpe, C. 1992. Gait generation for legged robots. Proceedings of the IEEE/RSJ international Conference on Intelligent Robots and Systems, Raleigh, NC, Vol. 2, pp. 1413-1420.
45. Winkler, C. B., Blower, D., Ervin, R. D., and Chalasani, R. M. 2000. Rollover of heavy commercial vehicles. Society of Automotive Engineers, Warrendale, PA.