Dynamic stability of a Rocker Bogie vehicle: Longitudinal motion

Moshe P. Mann, Zvi Shiller

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

27 Scopus citations

Abstract

This paper describes a unified measure of stability of a Rocker Bogie vehicle that accounts for the tendency to slide, tipover, or lose contact with the ground considering both static equilibrium and dynamic effects. The measure of stability is computed by solving for the range of acceptable velocities and accelerations that satisfy a set of dynamic constraints. The maximum acceptable velocity serves as a dynamic stability measure, whereas the maximum acceptable acceleration at zero velocity serves as a static stability measure. The utility of the static and dynamic stability margins are demonstrated for both two dimensional and longitudinal quasi-3D motion in several examples.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages861-866
Number of pages6
DOIs
StatePublished - 1 Dec 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 18 Apr 200522 Apr 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
Country/TerritorySpain
CityBarcelona
Period18/04/0522/04/05

Keywords

  • Mobile robots
  • Motion planning
  • Rocker bogie
  • Stability margins

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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