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The Effect of Terrain Inclination on Performance and the Stability Region of Two-Wheeled Mobile Robots : Effetto dell'inclinazione del terreno sulle prestazioni e sulla regione di stabilità di un robot mobile a due ruote, in: International Journal of Advanced Robotic Systems
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Author Kausar, Zareena; Stol, Karl; Patel, Nitish
Published  InTech Open Access Publisher, 2012
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Abstract Two‐wheeled mobile robots (TWMRs) have a
capability of avoiding the tip‐over problem on inclined
terrain by adjusting the centre of mass position of the robot
body. The effects of terrain inclination on the robot
performance are studied to exploit this capability. Prior to
the real‐time implementation of position control, an
estimation of the stability region of the TWMR is essential
for safe operation. A numerical method to estimate the
stability region is applied and the effects of inclined surfaces
on the performance and stability region of the robot are
investigated. The dynamics of a TWMR is modelled on a
general uneven terrain and reduced for cases of inclined and
horizontal flat terrain. A full state feedback (FSFB) controller
is designed based on optimal gains with speed tracking on a
horizontal flat terrain. The performance and stability regions
are simulated for the robot on a horizontal flat and inclined
terrain with the same controller. The results endorse a
variation in equilibrium points and a reduction in stability
region for robot motion on inclined terrain.
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no fulltext found International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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Documents: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=33027009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_33027009.html
PDF FaviconPDF  The Effect of Terrain Inclination on Performance and the Stability Region of Two-Wheeled Mobile Robots
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Time of publication 2012
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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