エスカレータを利用した移動ロボットによるフロア間移動に関する研究

抄録

The control method of a mobile robot using an escalator to move between floors has been developed to wide use of a mobile robot. RT middleware has been used as a software platform and the system consists of a laser range finder (LRF), a tactile sensor, and position sensitive devices (PSD). LRF is used for measuring the surrounding environment, a tactile sensor detects the contact to a step of the escalator in boarding for an up escalator, and PSD sensors detect the end of the step for a down escalator. The robot realized the riding on and off an escalator continuity.