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Neural-network-based observer for real-time tipover estimation

Summary: Neural-network-based observer for real-time
tipover estimation
A. Meghdari a,*, D. Naderi b
, M.R. Alam c
Center of Excellence in Design, Robotics, and Automation, School of Mechanical Engineering,
Sharif University of Technology, Tehran, Iran
Department of Mechanical Engineering, Bu-Ali Sina University, Hamedan, Iran
Department of Mechanical Engineering, Masachusetts Institute of Technology, Cambridge, MA, USA
Accepted 2 March 2005
Tipover issue is an important problem in autonomous mobile manipulators. This issue is
becoming more important in new generation of mobile robots where their size and weight
are reduced, and they are designed to work on uneven terrains with higher speeds. Estimating
the distance from the tipover stability margin would enhance the capability of the mobile
manipulators in correcting their motion. For a valid estimation of the tipover margin one must
take into account the full dynamic interaction between the vehicle and its manipulator. In
mobile manipulators with several degrees of freedom a huge amount of time is needed to solve


Source: Alam, Mohammad-Reza - Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT)


Collections: Engineering