Abstract
This paper deals with a stability evaluation method based on reaction from terrain for a rubble removing rescue robot. We construct a rescue robot to remove rubble lying on injured victims under broken houses. In rescue fields, shape of terrain and mass of rubble are unknown. Then, the previous stability evaluation method namely ZMP is not satisfactory because the method needs model parameters of the robot, shape of terrain and mass of payload. In this paper, we propose a stability evaluation method based on reaction from terrain and a stability margin time based on time in which reaction reaches zero. We perform experiments and show that the proposed method can evaluate stability for the robot not concerning model parameters, terrain shape and mass of rubble.
