Abstract
We are involved in the development of "toilet assist" that supports excretion care for elderly and handicapped people. The "toilet assist" is a mobile toilet robot that moves to the appropriate position autonomously and supports stand-up/sit-down by lifting up/down the toilet seat. In this report, we used the prototype toilet assist with omnidirectional motion mechanism and two laser range sensors in the limited space of the toilet room in the care house. We confirmed by experiments the validity of the previously developed localization method in the environment where human exists in the working space. Using this localization algorithm, we controlled the toilet assist using various speed for the given trajectory, and compared final positioning accuracy. We confirmed the slow measurement and calculation time for the localization affects the result of the positioning as well as big inertia of the toilet robot.
