Analysis and simulation for wheel-legged robot tumble stability

Hai Bo Tian, Zong De Fang, Yong Zhou, Sheng Jin Li, Guo Sheng Zhang

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

In uneven terrains, tumble stability is critical to a mobile robot. Aiming at the moving requests of miniature mobile robot on unstructured environment, a wheel-legged robotic platform with multi-configuration was developed. This reconfigurable robot has a symmetrical structure and four independent wheel-legged articulations which can generate a series of configurations. A dynamic energy stability pyramid and a tumble stability index were adopted to determine its stability comprehensively. Then, the robot stability in configuration change was discussed. And, the dynamic tumble stabilities of six typical configurations were studied when the inertial forces and road disturbances occurred. The analysis results imply that the multiple configurations can improve the tumble stability greatly.

Original languageEnglish
Pages (from-to)4032-4037
Number of pages6
JournalXitong Fangzhen Xuebao / Journal of System Simulation
Volume21
Issue number13
StatePublished - 5 Jul 2009

Keywords

  • Shifting shape
  • Simulation analysis
  • Tumble stability index
  • Unstructured environment
  • Wheel-legged robot

Fingerprint

Dive into the research topics of 'Analysis and simulation for wheel-legged robot tumble stability'. Together they form a unique fingerprint.

Cite this