RT-MoverシリーズPTypeにおける脚動作中断時の脚軌道の検討

抄録

Personal Mobility Vehicle RT-Mover PTypes have four active wheels and five active shafts (front and rear steerings:2, front and rear roll axes:2, pitch axis:1). They have both of wheel mode and leg motion mode. They can travel paved road and rough terrain by the wheel mode and can move over a few steps by the leg motion mode. And the seat of them is kept horizontal even on those types of rough terrain. However, RT-Mover PTypes have no interrupting system for a leg motion. In this paper, we discuss a trajectory when interrupting the leg motion.