A new measure of tipover stability margin for mobile manipulators
- 1 January 1996
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 3111-3116
- https://doi.org/10.1109/robot.1996.509185
Abstract
Mobile manipulators operating in field environments will be required to perform tasks on uneven terrain which may cause the system to approach, or achieve, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure of stability margin. This worKeywords
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