人間と協調する倒立二輪型ビークルの階段乗り上げ手法に関する研究

抄録

In this paper, we propose a method to reduce the force applied by humans to a robot for climbing stairs in cooperation with a robot. In the former study, we were able to reduce the amount of work, but not the maximum value of force. Therefore, we reviewed the principle of stair climbing and considered the contact area between the wheel and the floor or wall as a surface contact. In addition, we decided to maximize the torque by position control instead of force control. We thought that the human would exert the optimum force to lift the robot up the stairs, and conducted simulations. After that, we confirmed the effectiveness of this method in actual experiments. The results show that the peak value of the force that humans should apply to the robot can be reduced by position control.