A new task-consistent overturn prevention algorithm for redundant mobile modular manipulators

Yangmin Li, Yugang Liu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

8 Citations (Scopus)


This paper presents a new algorithm for automatic overturn prevention and path following control of redundant nonholonomic mobile modular manipulators. According to modular robot concept, a new dynamic modeling method is proposed in consideration of interactive motions, nonholonomic constraints and self-motions. Then, an online self-motion planner (SMP) and a robust adaptive neural-fuzzy controller (RANFC) are devised; the former is used to generate desired self-motions in a real-time manner, while the latter is used to prevent the robot from overturning and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does not need exact apriori knowledge of dynamic parameters and can suppress bounded external disturbance effectively. Simulation results for a real robot demonstrate that the proposed algorithm is effective.
Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Number of pages6
Publication statusPublished - 1 Dec 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2 Aug 20056 Aug 2005


ConferenceIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CityEdmonton, AB


  • Dynamic modeling
  • Mobile modular manipulator
  • Neural-fuzzy control
  • Overturn prevention
  • Redundant robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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