There exist handicapped who need assistance with transfer, for example, from a wheelchair to a bed. They want to transfer without helper, whenever they need. Many of transfer assist tools are not the equipment that help self transfer of handicapped, but the equipment for the reduction of helper's load. In previous works, we have proposed a self transfer assist robot that the handicapped can transfer to a desired position without helper and a mechanism for mobile function of the robot. In this paper, we study an autonomous locomotion scheme of self transfer robot using vision sensor and solid marker for effective use of the robot.
