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Side-Slip Angle Estimation using One-Caster Steering Moment of the Sweeping Robot for Curling

Side-Slip Angle Estimation using One-Caster Steering Moment of the Sweeping Robot for Curling
Choi, Jung HyunChung, YounghunNam, KanghyunOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019, 5419-5424
The side-slip angle is an important motion state for stable driving in mobile platform, and commercial sensors for the side-slip angle measurement are expensive. In this paper, a side-slip angle estimator is introduced to be utilized in the sweeping robot. Curling robot consist of several mobile robots which includes the sweeping robot as well as skip robot and throwing robot. To estimate the side-slip angle, a state observer is developed which requires the lateral force calculated by using the steering moment of the sweeping robot. Considering the mechanical structure of the sweeping robot, the principle of bending moment analysis with the nodal hinged constrain beam is applied to define the relationship between the lateral force and steering moment. This approach is different with the conventional method which is based on the cornering stiffness and the direct lateral force sensor measurement. Furthermore, the lateral velocity, which is obtained from the camera attached in the skip robot, is also utilized in the state observer-based estimator. The simulation and experimental results prove the defined relationship between lateral force and the steering moment and verify the proposed estimation algorithm. © 2019 IEEE.
IEEE Computer Society
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers

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