変形車体を用いた階段昇降ロボットの提案

抄録

This study aims to develop a cargo handling robot that can be put to daily use, considering factors such as high throughput, high mobility, smoothness, simplicity and low cost of construction. An inverted pendulum-wheeled mobile robot with a transformable body is proposed, which adapts to different road surfaces by switching between two and four wheels traveling modes. The four-wheeled mode state can traverse obstacles, where as the two-wheeled mode transforms into an inverted pendulum robot with higher maneuverability. This enables turning in tight spaces and moving smoothly and quickly in flat terrains.