Abstract
This paper describes a cooperative step climbing method for a manual wheelchair and a care robot with dual manipulators. The wheelchair and the robot are deployed in a forward-and-aft configuration upon encountering a step. When the robot assists the climbing wheelchair, it imitates a human pushing a heavy object. Some joints of the manipulators are allowed to move passively and the upper links of the manipulators are pressed against the robot's chest to achieve wheelchair ascent. As the robot rises, the forearm links of the manipulators press against the back of the wheelchair to lift the robot's front wheels. An analysis of the robot's climb, clarifies necessary safety requirements which help define manipulator angles. Using a teleoperation system to control the robot through an intranet, the experiments are performed and the system's effectiveness is indicated.
