著者

池田 英俊 勝俣 嘉一 庄司 道彦 高橋 隆行 中野 栄二

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.26, no.2, pp.200-209, 2008-03-15 (Released:2010-08-25)

参考文献数

25

被引用文献数

5 10

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This paper describes a method of cooperative strategy which enables a wheelchair and a wheeled robot to climb a step by a simple link mechanism which connects between them. We perform a numerical calculation to clarify the combination of two supporting positions of the connecting link that connects the two vehicles which enable them to climb a step and is stable at the same time. We conclude from the result of the simulation that it is necessary to change the link positions to climb a step safely. We ascertain the effectiveness of this method by means of experiments.