Stabilizing a Vehicle Near Rollover: an Analogy to Cart-Pole Stabilization
This video contains animations of the two simulation results described in a conference paper presented at ICRA 2010. The results show tip-up of a vehicle on a surface with two different friction coefficients.
In the first simulation, the surface friction coefficient is 1.5, and the c.g. lies in the friction cone from the start. As such, it is able to reach tip-up while pushing in a single direction.
In the second simulation, the surface friction coefficient is 1.0, and the c.g. does not lie in the friction cone from the start. After pumping to one side and then back to the other, the c.g. is able to enter the friction cone and the vehicle reaches tip-up.
The paper is located at dx.doi.org/10.1109/ROBOT.2010.5509367
MIT Robotic Mobility Group