Interaction analysis and online tip-over avoidance for a reconfigurable tracked mobile modular manipulator negotiating slopes

IEEE/ASME Transactions on Mechatronics

Volumn 15, Issue 4, 2010, Pages 623-635

  Liu, Yugang ^a   Liu, Guangjun ^a  

^a RYERSON UNIVERSITY   (Canada)

Author keywords

Mobile manipulator; reconfigurable modular robot; slope negotiation; tip over avoidance; tracked mobile robot; trackterrain interaction; vehiclemanipulator interaction

Indexed keywords

CENTRIFUGAL FORCES; HIGH-SPEED MOTION; INTERACTION ANALYSIS; MOBILE MANIPULATOR; MOBILE MODULAR MANIPULATORS; NON HOLONOMIC CONSTRAINT; ON-BOARD MANIPULATORS; RE-CONFIGURABLE; RECONFIGURABLE MODULAR ROBOT; SLOPE NEGOTIATION; TIP-OVER STABILITY; TIPPING OVER; TRANSFER OF LOAD; WHEELED MOBILE ROBOT;

ALGORITHMS; CENTRIFUGATION; MOBILE ROBOTS; MODULAR ROBOTS; STABILITY CRITERIA; TRACKED VEHICLES;

MANIPULATORS;

EID: 77955227162     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2009.2031174     Document Type: Article

References (29)

1. Engineering Services, Inc. (ESI), LMA series of mobile platforms. ESI, Toronto, ON, Canada. (2008). [Online]. Available: http://www.esit.com/ mobileRobots.php
2. iRobot Corp. iRobot PackBot: The multi-mission tactical mobile robot. iRobot, Bedford, MA. (2007). [Online]. Available: http://www.irobot. com/sp.cfm?pageid=171
3. Remotec. Andros family of tracked vehicles. Remotec, Clinton, TN. (2008). [Online]. Available: http://www.ms.northropgrumman. com/Remotec/hd1.htm
4. T. Yoshida, E. Koyanagi, S. Tadokoro, K. Yoshida, K. Nagatani, K. Ohno, T. Tsubouchi, S. Maeyama, I. Noda, O. Takizawa, and Y. Hada, "A high mobility 6-crawler mobile robot kenaf," in Proc. 4th Int. Workshop Synth. Simul. Robot. Mitigate Earthquake Disaster, Atlanta, GA, Jul. 2007, pp. 38.
5. P. Ben-Tzvi, S. Ito, and A. A. Goldenberg, "A mobile robot with autonomous climbing and descending of stairs," Robotica, vol.27, no.2, pp. 171-188, Mar. 2009.
6. C. Grand, F. Benamar, F. Plumet, and P. Bidaud, "Stability and traction optimization of a reconfigurable wheel-legged robot," Int. J. Robot. Res., vol. 23, no. 10/11, pp. 1041-1058, Oct./Nov. 2004.
7. K. Iagnemma, A. Rzepniewski, S. Dubowsky, and P. Schenker, "Control of robotic vehicles with actively articulated suspensions in rough terrain," Auton. Robots, vol.14, no.1, pp. 5-16, Jan. 2003.
8. S. V. Sreenivasan and B. H. Wilcox, "Stability and traction control of an actively actuated micro-rover," J. Robot. Syst., vol.11, no.6, pp. 487-502, 1994.
9. A. Diaz-Calderon and A. Kelly, "On-line stability margin and attitude estimation for dynamic articulating mobile robots," Int. J. Robot. Res., vol.24, no.10, pp. 845-866, Oct. 2005.
10. K. Nagatani, A. Yamasaki, K. Yoshida, T. Yoshida, and E. Koyanagi, "Semi-autonomous traversal on uneven terrain for a tracked vehicle using autonomous control of active flippers," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Nice, France, Sep. 2008, pp. 2667-2772.
11. Y. Liu and G. Liu, "Track-stair interaction analysis and online tip-over prediction for a self-reconfigurable tracked mobile robot climbing stairs," IEEE/ASME Trans. Mechatronics, vol.14, no.5, pp. 528-538, Oct. 2009.
12. J. Y. Wong, Theory of Ground Vehicles, 4th ed.. USA: Wiley, 2008.
13. M. Kitano and H. Jyozaki, "A theoretical analysis of steerability of tracked vehicles," J. Terramech., vol.13, no.4, pp. 241-258, 1976.
14. M. Kitano and M. Kuma, "An analysis of horizontal plane motion of tracked vehicles," J. Terramech., vol.14, no.4, pp. 211-225, 1977.
15. C. B. Lowand D.Wang, "Gps-based tracking control for a car-likewheeled mobile robot with skidding and slipping," IEEE/ASME Trans.Mechatronics, vol.13, no.4, pp. 480-484, Aug. 2008.
16. J. Yi, "A piezo-sensor-based smart tire system for mobile robots and vehicles," IEEE/ASME Trans. Mechatronics, vol.13, no.1, pp. 95-103, Feb. 2008.
17. D. Endo, Y. Okada, K. Nagatani, and K. Yoshida, "Path following control for tracked vehicles based on slip-compensating odometry," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., San Diego, CA, Oct. 2007, pp. 2871-2876.
18. Z.-D. Ma and N. C. Perkins, "A track-wheel-terrain interaction model for dynamic simulation of tracked vehicles," Veh. Syst. Dyn., vol.37, no.6, pp. 401-421, 2002.
19. A. Ghasempoor and N. Sepehri, "A measure of machine stability for moving base manipulators," in Proc. IEEE Int. Conf. Robot. Autom., 1995, pp. 2249-2254.
20. E. G. Papadopoulos and D. A. Rey, "A new measure of tipover stability margin for mobile manipulators," in Proc. IEEE Int. Conf. Robot. Autom., Minneapolis, MN, Apr. 1996, pp. 3111-3116.
21. Y. Li and Y. Liu, "Kinematics and tip-over stability analysis for the mobile modular manipulator," Proc. Inst. Mech. Eng., Mech. Eng. Sci., vol.219, no.3, pp. 331-343, 2005.
22. S. Hirose, H. Tsukagoshi, and K. Yoneda, "Normalized energy stability margin and its contour of walking vehicles on rough terrain," in Proc. IEEE Int. Conf. Robot. Autom., Seoul, Korea, May 2001, pp. 181-186.
23. D. A. Rey and E. G. Papadopoulos, "On-line automatic tipover prevention formobile manipulators," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., 1997, pp. 1273-1278.
24. Y. Li andY. Liu, "Real-time tip-over prevention and path following control for redundant nonholonomic mobile modular manipulators via fuzzy and neural-fuzzy approaches," Trans. ASME, J. Dyn. Syst., Meas., Control, vol.128, no.4, pp. 753-764, Dec. 2006.
25. Y. Liu and G. Liu, "Kinematics and interaction analysis for tracked mobile manipulators," in Proc. IEEE/RSJ Int.Conf. Intell. Robot. Syst., San Diego, CA, Oct. 2007, pp. 267-272.
26. Y. Liu and G. Liu, "Modeling of tracked mobile manipulators with consideration of track-terrain and vehicle-manipulator interactions," Robot. Auton. Syst., to be published. DOI:10.1016/j.robot.2009.07.007.
27. Y. Liu and G. Liu, "Track-stair and vehicle-manipulator interaction analysis for tracked mobile manipulators climbing stairs," in Proc. IEEE Int. Conf. Autom. Sci. Eng., Aug. 2008, pp. 157-162.
28. K. Huh and D. Hong, "Track tension estimation in tracked vehicles under various maneuvering tasks," Trans. ASME, J. Dyn. Syst., Meas., Control, vol.123, no.2, pp. 179-185, Jun. 2001. (Pubitemid 33715965)
29. G.Welch and G. Bishop. (2006). An introduction to the Kalman filter [Online]. Available: http://www.cs.unc.edu/welch/kalman/kalmanIntro.html