Real-world validation of three tipover algorithms for mobile robots

— Mobile robot tipover is a concern as it can create dangerous situations for operators and bystanders, cause collateral damage to the surrounding environment, and result in an aborted mission. Algorithms have been developed by others to assess the stability of the robot, and many of these algorithms have been demonstrated using simulated data. In order to verify that these algorithms accurately match real-world behavior, we have collected data of a mobile robot tipping over and then compared this data to the stability measures provided by three algorithms: Zero-Moment Point (ZMP), Force-Angle stability measure (FA), and Moment-Height Stability measure (MHS). A small mobile robot platform based on the iRobot PackBot drove a course including ramps and obstacles; an IMU and GPS provided inertial and positional data for the algorithms, and the actual tipover event is determined from video footage of the tests. The average normalized measure at tipover event initiation was found to be 0....

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Philip R. Roan, Aaron Burmeister, Amin Rahimi, Kevin Holz, David Hooper
• Keywords: Algorithms, ICRA 2010, Mobile Robot, Robot, Robotics