RT Conference Proceedings
T1 Slide-Down Prevention for Wheeled Mobile Robots on Slopes
A1 Martínez, Jorge L.
A1 Mandow, Anthony
A1 García-Cerezo, Alfonso José
A1 García, Jesús M.
K1 Robots autónomos
AB Wheeled mobile robots on inclined terrain can slide down due to loss of traction and gravity. This type of instability, which is different from tip-over, can provoke uncontrolled motion or get the vehicle stuck. This paper proposes slide-down prevention by real-time computation of a straightforward stability margin for a given ground-wheel friction coefficient. This margin is applied to the case study of Lazaro, a hybrid skid-steer mobile robot with caster-leg mechanism that allows tests with four or five wheel contact points. Experimental results for both ADAMS simulations and the actual vehicle demonstrate the effectiveness of the proposed approach.
PB Springer
YR 2017
FD 2017
LK http://hdl.handle.net/10630/13067
UL http://hdl.handle.net/10630/13067
LA eng
NO 3rd International Conference on Mechatronics and Robotics Engineering,  Paris, France, February 8-12, 2017
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026