Static force analysis for a mobile humanoid robot moving on a slope

Abstract

The paper firstly presents a mobile humanoid robot whose upper human-like body is rigidly mounted on the mobile platform with three wheels: two driving wheels and one caster wheel. The wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Then the static equilibrium of the robot on a plane is discussed and tip-over stability of mobile humanoid robot moving on the slope is analyzed. In order to investigate the influence of exerting the force on the arm end-effector on the stability of the robot, the typical cases are studied carefully. Finally some simulations are carried out and the influence of different modes on the stability are analyzed by comparing different cases.