Abstract
Our purpose is developing the human assisting robot, which can replace the wheel chair, guide dog or service dog. We developed the mobile robot with four legs and four wheels in tip of each leg (NR002). NR002 can detect and move up and down stairs. In this paper, we propose the method for controlling robot with force sensor, and develop the guide dog robot NWR001. NWR001 is two-wheeled mobile robot. Driving wheels are located in side of NWR001. And, caster wheels are located in anteroposterior position. This caster wheel can control height. Therefore, NWR001 can move on curved surface or canted floor safely. We used virtual mass and virtual viscous damping for conversion to moving velocity from force input. We realized superrational control method.
