Abstract
Recently, robots are developed to support people's work in home and office effectively. Especially, it is hopeful for robots to act for the transportation of heavy loads in office. In this research, a robot that automatically transports an object in various sizes and shapes is developed. To accomodate the different lifted height of an object, the lift up mechanism is small sized and has a high width of expansion and contraction. A large object can be transported by two or more robots. In such a case, the locomotion control and the obstacle avoidance become difficult. Therefore, robots control an object in a holonomic manner by assembling an offset of the developed robot and experimental results.
