4輪4脚フレキシブルパーソナルロボットの段差跨ぎ越え

—3眼立体視による段差検出と車輪脚協調歩容—

抄録

Personal robots and service robotics are expected as the next applicable fields of the robotics. Wheel typed robots have the large advantage of mobility and energy consumption rate on the flat floor, and humanoid robots have an advantage of mobility over the ditch, steps, and stairs. As a realistic hybrid solution, four wheeled and four legged flexible personal robot is designed. This robot is expected to follow a person or people in the various places where they walk around mainly indoors including flat floors, different leveled floors, slopes, and stairs. It has the tri-camera stereo vision system to recognize the mobile environments. This paper describes on the motion control to stride over a small step on a flat floor. The robot moves by four wheels on the flat floor and uses legged motion to avoid the step. The correlation-based stereo recognition method and the segment-based stereo recognition method are integrated to recognize the step and the floor and to divide them in order to make a smooth motion. Robot succeeded to recognize the step on the floor and to stride over it.