Stability Analysis for Orchard Wearable Robotic System

This paper presents the preliminary stability study of a lifting-walking orchard wearable robot. The robot is operated by a single person, thus, stability is a major concern for the purpose of keeping the operator safe. The force-angle model is used in this paper for stability margin modeling of the wearable robot system. A possible control strategy is given based on the model. The relationship between footprint size, robot height, bending angle of the operator and the stability margin is discussed. The result indicates that it is possible to keep the robot system stable by the stability model.