多連結清掃ロボットの開発と机上清掃制御

抄録

In this paper, we developed an articulated mobile robot for cleaning. The robot consists of links which has a cleaning unit, active wheel, a pitch joint, touch sensors for collision detection and range sensor for avoid wheels fall off, and the links are serially connected by a yaw joint. We also proposed a control method of the robot to clean a desk without falling off, and carried out simulations and experiments to demonstrate the effectiveness of it. Furthermore, experiments were performed to test obstacle avoidance using touch sensor.