Steerability analysis on slopes of a mobile robot with a ground contact arm

Mobile robot navigation through sloped terrains is a relevant problem for field robotics. In this context, mobile manipulators can improve tip-over stability by exerting ground contact with the end-effector of the onboard arm. However, this contact can affect vehicle steerability. This paper proposes a case study on the effect of arm ground contact on skid steering locomotion on inclined surfaces. To this end, a new four-wheeled mobile robot has been specifically designed with an onboard arm to provide one additional support point. Experimental results are obtained via ADAMS simulations on undulating surfaces, and include a comparison with center-of-gravity control for non-contact tip-over stability.