Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope

Fusheng Zha; Qiming Wang; Penglong Zheng; Chen Chen; Wei Guo

doi:10.1109/HFR.2018.8633528

Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope

Fusheng Zha
, Qiming Wang
, Penglong Zheng
, Chen Chen
, Wei Guo^*

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The determination of stability is critical for heavy six-legged robots, as heavy six-legged robots will be difficult to recover if they become unstable. This paper mainly describe a method to predict the robot's stability on slopes based on the robot's dynamic stability and the terrain information of the ground. In order to conveniently and rationally use topographic information to make reasonable predictions of some instability of robots, such as slipping and destabilizing phenomena, fuzzy inference and input of topographic information are used to predict robot's stability. Finally, the algorithm is verified in a simulation environment.

Original language	English
Title of host publication	2018 11th International Workshop on Human Friendly Robotics, HFR 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7-12
Number of pages	6
ISBN (Electronic)	9781538675847
DOIs	https://doi.org/10.1109/HFR.2018.8633528
State	Published - 2 Jul 2018
Event	11th International Workshop on Human Friendly Robotics, HFR 2018 - Shenzhen, China Duration: 13 Nov 2018 → 14 Nov 2018

Publication series

Name	2018 11th International Workshop on Human Friendly Robotics, HFR 2018

Conference

Conference	11th International Workshop on Human Friendly Robotics, HFR 2018
Country/Territory	China
City	Shenzhen
Period	13/11/18 → 14/11/18

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10.1109/HFR.2018.8633528

Cite this

Zha, F., Wang, Q., Zheng, P., Chen, C., & Guo, W. (2018). Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope. In 2018 11th International Workshop on Human Friendly Robotics, HFR 2018 (pp. 7-12). Article 8633528 (2018 11th International Workshop on Human Friendly Robotics, HFR 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HFR.2018.8633528

@inproceedings{aa37abafb8384cf785c4078dff538293,

title = "Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope",

abstract = "The determination of stability is critical for heavy six-legged robots, as heavy six-legged robots will be difficult to recover if they become unstable. This paper mainly describe a method to predict the robot's stability on slopes based on the robot's dynamic stability and the terrain information of the ground. In order to conveniently and rationally use topographic information to make reasonable predictions of some instability of robots, such as slipping and destabilizing phenomena, fuzzy inference and input of topographic information are used to predict robot's stability. Finally, the algorithm is verified in a simulation environment.",

author = "Fusheng Zha and Qiming Wang and Penglong Zheng and Chen Chen and Wei Guo",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 11th International Workshop on Human Friendly Robotics, HFR 2018 ; Conference date: 13-11-2018 Through 14-11-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/HFR.2018.8633528",

language = "英语",

series = "2018 11th International Workshop on Human Friendly Robotics, HFR 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "7--12",

booktitle = "2018 11th International Workshop on Human Friendly Robotics, HFR 2018",

address = "美国",

}

Zha, F, Wang, Q, Zheng, P, Chen, C & Guo, W 2018, Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope. in 2018 11th International Workshop on Human Friendly Robotics, HFR 2018., 8633528, 2018 11th International Workshop on Human Friendly Robotics, HFR 2018, Institute of Electrical and Electronics Engineers Inc., pp. 7-12, 11th International Workshop on Human Friendly Robotics, HFR 2018, Shenzhen, China, 13/11/18. https://doi.org/10.1109/HFR.2018.8633528

Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope. / Zha, Fusheng; Wang, Qiming; Zheng, Penglong et al.
2018 11th International Workshop on Human Friendly Robotics, HFR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 7-12 8633528 (2018 11th International Workshop on Human Friendly Robotics, HFR 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope

AU - Zha, Fusheng

AU - Wang, Qiming

AU - Zheng, Penglong

AU - Chen, Chen

AU - Guo, Wei

PY - 2018/7/2

Y1 - 2018/7/2

N2 - The determination of stability is critical for heavy six-legged robots, as heavy six-legged robots will be difficult to recover if they become unstable. This paper mainly describe a method to predict the robot's stability on slopes based on the robot's dynamic stability and the terrain information of the ground. In order to conveniently and rationally use topographic information to make reasonable predictions of some instability of robots, such as slipping and destabilizing phenomena, fuzzy inference and input of topographic information are used to predict robot's stability. Finally, the algorithm is verified in a simulation environment.

AB - The determination of stability is critical for heavy six-legged robots, as heavy six-legged robots will be difficult to recover if they become unstable. This paper mainly describe a method to predict the robot's stability on slopes based on the robot's dynamic stability and the terrain information of the ground. In order to conveniently and rationally use topographic information to make reasonable predictions of some instability of robots, such as slipping and destabilizing phenomena, fuzzy inference and input of topographic information are used to predict robot's stability. Finally, the algorithm is verified in a simulation environment.

UR - https://www.scopus.com/pages/publications/85062819148

U2 - 10.1109/HFR.2018.8633528

DO - 10.1109/HFR.2018.8633528

M3 - 会议稿件

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T3 - 2018 11th International Workshop on Human Friendly Robotics, HFR 2018

SP - 7

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BT - 2018 11th International Workshop on Human Friendly Robotics, HFR 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 11th International Workshop on Human Friendly Robotics, HFR 2018

Y2 - 13 November 2018 through 14 November 2018

ER -

Zha F, Wang Q, Zheng P, Chen C, Guo W. Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope. In 2018 11th International Workshop on Human Friendly Robotics, HFR 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 7-12. 8633528. (2018 11th International Workshop on Human Friendly Robotics, HFR 2018). doi: 10.1109/HFR.2018.8633528

Research on Dynamic Stability Prediction of Large Heavy Six-legged Robots On Slope

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