Design and comparative evaluation of an iterative contact point estimation method for static stability estimation of mobile actively reconfigurable robots

摘要

Due to the advancements of robotic systems, they are able to be employed in more unstructured outdoor environments. In such environments the robot-terrain interaction becomes a highly non-linear function. Several methods were proposed to estimate the robot-terrain interaction: machine learning methods, iterative geometric methods, quasi-static and fully dynamic physics simulations. However, to the best of our knowledge there has been no systematic evaluation comparing those methods.