This paper proposes a method to visualize running stability of robots in its surrounding terrain. The stability should be evaluated by taking account of the physical interaction between a robot and terrain. In this study, the dynamics of the robot behavior in the terrain is calculated in advance with a dynamic simulator, and the stability is assessed by our proposed criterion that can evaluate the tumble risk in a term. The calculated stability is visualized to the teleoperation operator, and therefore, a safe path can be chosen to move. In experiments, the validity of the proposed method was performed by testing additionally in an actual environment after the simulation.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.