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A ZMP based interval criterion for rollover-risk diagnosis

Abstract : This paper presents an interval criterion used to anticipate rollover accidents of all-terrain wheeled vehicles. The Zero Moment Point concept, initially designed for humanoid robots, is presented in the case of a 4 wheels vehicle, first in an ideal case of a perfectly flat ground and finally in the off-road context. This adaptation is done by assuming that the tyre/ground contact is no more punctual but distributed in a set enclosed in a computable box (3D interval). It is then possible to derive an interval version of the ideal ZMP-based criterion. The method is experimented by using data collected during a real experiment done with a vineyard harvester that is a typical case of wheeled reconfigurable vehicle. The interval criterion gives a flexibility for its interpretation that is more adapted to the complex and varying all-terrain context.
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https://hal.archives-ouvertes.fr/hal-01290397
Contributor : Joanny Stephant Connect in order to contact the contributor
Submitted on : Friday, March 18, 2016 - 10:09:56 AM
Last modification on : Wednesday, October 20, 2021 - 1:31:24 AM

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Xu Han, Joanny Stephant, Gilles Mourioux, Dominique Meizel. A ZMP based interval criterion for rollover-risk diagnosis. 9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2015 — Paris, 2–4 September 2015, Sep 2015, Paris, France. pp.277-282, ⟨10.1016/j.ifacol.2015.09.540⟩. ⟨hal-01290397⟩

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