Abstract
This paper presents a novel personal robot assisting transportation to support active human life. The personal robot can bring the luggage and follow the human being automatically. Therefore, the robot encourages the elder people to go to outside for shopping, airing, and visiting friends. The robot should achieve both small footprint for coexistence in human community and high traveling performance to follow the human being. For achievement of these requirements, active posture control for roll and pitch angle is an essential technology. In this paper, the structure and control approach for posture control is proposed to realize the following the human being. The effectiveness of the proposed approach is verified by experiment using a new prototype robot.
