Trajectory optimisation for increased stability of mobile robots operating in uneven terrains

@article{Beck2009TrajectoryOF,
  title={Trajectory optimisation for increased stability of mobile robots operating in uneven terrains},
  author={Christoph Beck and J. V. Miro and Gamini Dissanayake},
  journal={2009 IEEE International Conference on Control and Automation},
  year={2009},
  pages={1913-1919}
}
A mechanism capable of enhancing the safety of paths followed by mobile robots which significantly modify their mass distribution while operating in uneven terrains is presented. This is the case, for instance, of kinematically reconfigurable platforms or robots equipped with manipulator arms. For a given path, a trajectory optimiser that finds suitably ¿safer¿ paths in terms of tip-over prevention and equal force distribution over the supporting contact points is proposed. Other kinematic… CONTINUE READING

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