Reseach on a new approach of auto self-balancing for rescue robot on uneven terrain

摘要

This paper introduces a new approach to estimate stability of robot in rugged terrain and presents an algorithm to make robot achieve self-balance automatically. In consideration of the terrain is unknown and uncertain, it will be effective to keep robot in a better stable state to meet the challenges of terrain. We define a new parameter, stability angle, to describe the stable state of robot. By calculating the stability angle in real-time, stable state of robot will be known. The rescue robot in this paper is composed of manipulator and mobile vehicle, and it's found that the posture of manipulator makes an obvious influence to the stability of our rescue robot. As a consequence, optimizing the posture of manipulator can make the robot more stable. Using gradient computation and searching algorithm, we can adjust manipulator to optimal posture, which makes the robot reach an optimal stable state. The experiment and simulation revealed that the methods used in this paper can effectively help robot keep stable.