ホームロボットのための転倒時起き上がり機構の開発

―第2報：起き上がり機構の改善と効果―

抄録

For home robots, functions such as support, dialogue, guidance, and hospitality with human beings are expected while safely moving in coexistence environments of the human being, such as home environments or the like. However, there arise problems concerning hugging on the home robot and falling down of the home robot accompanying it. This paper develops a standing up mechanism during falling down as a wheeled home robot function capable of smooth service.