Actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair

Leg-wheel hybrid mobile vehicle has been regarded as the best combination and many of them have been presented recently because of the high terrain adaptability of legged walking robots on rough ground and the high mobility of wheeled mobile vehicles on flat terrain. We discuss the detailed actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair - with mainly indoor or ordered terrain environments - in mechanism sensor system and control method based on the developed leg-wheel hybrid mobile vehicle Zero Carrier I in this paper.

[1]  敏男 福田,et al.  不整地走行車両に適合した走行メカニズム(機械力学,計測,自動制御) , 2003 .

[2]  Satoshi Hashino.  Development of Stair-climbing Wheelchair , 2002, J. Robotics Mechatronics.

[3]  K. Yoneda,et al.  Design of prismatic quadruped walking vehicle TITAN VI , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[4]  S. Hirose,et al.  Development of quadruped walking robot TITAN-VIII , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[5]  Shigeo Hirose,et al.  Development of the Stair Climbing Leg-Wheel Hybrid Vehicle , 2005 .

[6]  Shigeo Hirose,et al.  A Study of Design and Control of a Quadruped Walking Vehicle , 1984 .

[7]  Shigeo Hirose,et al.  Zero Carrier: A Novel Eight Leg-Wheels Hybrid Stair Climbing Mobile Vehicle , 2005, J. Robotics Mechatronics.

[8]  Noriho Koyachi.  The World of Multi-legged Robots , 1993 .

[9]  Eiji Nakano,et al.  Terrain following control of self-contained semi-fixed gait hexapod walking robot , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[10]  T. Uchida,et al.  Development of stair climbing wheelchair with legs and wheels system (1st report) -Development of stair climbing mechanism , 1998 .

[11]  Yasuhisa Hasegawa,et al.  Mobile Mechanism Suitable for Rough Terrain Vehicle , 2004 .

[12]  Mikio Sato,et al.  Coupled drive of the multi-DOF robot , 1989, Proceedings, 1989 International Conference on Robotics and Automation.