TY - GEN
T1 - Stabilization of rigid bodies with frictional supports against dynamic perturbations
AU - Várkonyi, P. L.
AU - Gontier, David
AU - Burdick, Joel W.
PY - 2011/8/22
Y1 - 2011/8/22
N2 - Quasi-static robots supported by multiple contacts and Coulomb friction may be overturned by unwanted, arbitrarily small vibrations, under certain geometric conditions. The exact criteria of passive local dynamic stability for perfectly rigid objects (a natural idealization of robots) are currently unknown. In the present paper, we propose a minimalistic, robust, model-independent active stabilization scheme of planar objects via the manipulation of friction forces by wheels and brakes. The potential extensions of the new method to global stabilization, and to three dimensions are also discussed.
AB - Quasi-static robots supported by multiple contacts and Coulomb friction may be overturned by unwanted, arbitrarily small vibrations, under certain geometric conditions. The exact criteria of passive local dynamic stability for perfectly rigid objects (a natural idealization of robots) are currently unknown. In the present paper, we propose a minimalistic, robust, model-independent active stabilization scheme of planar objects via the manipulation of friction forces by wheels and brakes. The potential extensions of the new method to global stabilization, and to three dimensions are also discussed.
UR - https://www.scopus.com/pages/publications/80051737613
U2 - 10.1109/INES.2011.5954759
DO - 10.1109/INES.2011.5954759
M3 - Conference contribution
AN - SCOPUS:80051737613
SN - 9781424489565
T3 - INES 2011 - 15th International Conference on Intelligent Engineering Systems, Proceedings
SP - 281
EP - 286
BT - INES 2011 - 15th International Conference on Intelligent Engineering Systems, Proceedings
T2 - 15th International Conference on Intelligent Engineering Systems, INES 2011
Y2 - 23 June 2011 through 25 June 2011
ER -