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Mobile Robot Tipping Prevention by CG optimization and Zoning

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Uploaded on Jun 7, 2011

Shown is the Black-I LandShark robot model in Energid's Actin Viewer. The LandShark is operating with tipping-prevention control through Center of Gravity (CG) optimization and zoning. The control keeps the CG projection as close as possible to the center of the wheel support, while stopping the arm if the CG projection leaves a safe zone.

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