人力ロボティクスを応用した足漕ぎ式自律搬送システム

－搬送ロボットの機構設計－

抄録

In this study, focusing on a transportation of heavy small objects, a transportation system using a robotic mobility based on the Man-powered Robotics, is proposed. The Man-powered Robotics realizes intelligent operation by controlling power sources supplied by human pedaling. Therefore, a driver or an user just only input the power by pedaling, and the system realizes a trajectory tracking control, an object avoidance and so on, then the object will be transported autonomously. In this paper, a mechanical design and drafts of the system based on the Man-powered Robotics is described especially focusing on a mobile-base to realize omni-directional movement using the human pedaling power source.