Tip-over stability enhancement for omnidirectional mobile robot

Muhammad Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


Purpose - The purpose of this paper is to analyze the stability behavior of the omnidirectional mobile robot with active dual-wheel caster (ADWC) assemblies and provide a stable trajectory without any tip-over incident. The omnidirectional mobile robot to be developed is for transporting cuboid-shaped objects. Design/methodology/approach - The omnidirectional transport mobile robot is designed using an ADWC assemblies structure, the tip-over occurrence is estimated based on the support forces of an active footprint, the tip-over direction is predicted, the tip-over stability is enhanced to prevent the tip-over occurrence and a fast traveling motion is provided. Findings - The omnidirectional mobile robot tends to tip-over more on the sides with small ranges of tip-over angle. The proposed method for estimating the tip-over occurrence and enhancing the stability using the gyroscopic torque device was feasible as the tip-over prevention system of the omnidirectional mobile robot with ADWC assemblies. Originality/value - The research addresses the study of the tip-over stability for the omnidirectional mobile robot that possesses an active footprint. It also addresses the prediction of the tip-over occurrence using the derived dynamical model together with force-angle stability measure and the tip-over stability enhancement method using a single-gimbal control moment gyro device.

Original languageEnglish
Pages (from-to)91-106
Number of pages16
JournalInternational Journal of Intelligent Unmanned Systems
Issue number2
Publication statusPublished - May 6 2014


  • Active dual-wheel caster
  • Omnidirectional mobile robot
  • Stability
  • Tip-over

ASJC Scopus subject areas

  • Modelling and Simulation
  • Automotive Engineering
  • Economics and Econometrics
  • Mechanical Engineering


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