The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2012
Session ID : 2A2-V09
Conference information
2A2-V09 Study on a Practical Robotic Follower to Support Daily Life : Part5 : Improvement of rhomboid layout four-wheel vehicle with considering the usability(Welfare Robotics and Mechatronics (3))
Nobuo UKAIGen ENDOEdward F. FukushimaShigeo HIROSEMasatsugu IRIBEToshio TAKUBO
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Abstract
Home oxygen therapy (HOT) is a medical treatment for patients suffering from severe lung diseases. Although walking outdoors is recommended for patients to maintain physical strength, patients always have to carry a portable oxygen supplier which is not sufficiently light weight for this purpose. Our ultimate goal is to develop a mobile robot to carry an oxygen tank and follow a patient in an urban outdoor environment. We have proposed a mobile robot with a tether interface to detect the relative position of the foregoing patient. In this paper, we improve mobile platform mechanisms with considering the usability. The leader following control algorithm is also improved and its effectiveness is demonstrated in an outdoor and indoor experiment.
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© 2012 The Japan Society of Mechanical Engineers
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