This paper describes a cooperative step climbing method for a manual wheelchair and a care robot with dual manipulators. The wheelchair and the robot are deployed in a forward-and-aft configuration upon encountering a step. When the robot assists the climbing wheelchair, it imitates a human pushing a heavy object. Some joints of the manipulators are allowed to move passively and the upper links of the manipulators are pressed against the robot's chest to achieve wheelchair ascent. As the robot rises, the forearm links of the manipulators press against the back of the wheelchair to lift the robot's front wheels. An analysis of the robot's climb, clarifies necessary safety requirements which help define manipulator angles. Using a teleoperation system to control the robot through an intranet, the experiments are performed and the system's effectiveness is indicated.
There are many pipes such as a water pipe and a gas pipe in a chemical plant, a factory and house. It is possible to prevent accident ensure safety by these investigating. However, many pipes are very narrow and it is difficult for people to inspect directly. In this study, a cylindrical crawler robot based on Amoeba locomotion, which has a simple mechanism and does not need large space to move, is proposed. When moving the inside of a pipe, this crawler robot uses the elastic force of a crawler belt to hold the robot in pipe. Additionally the robot uses elastic deformation of a crawler belt to pass of a step between pipes with different diameters. Therefore, the robot can move the pipes of different diameters and the perpendicular pipe by using only on actuator. This paper reports the structure, drive mechanism, design, and prototype evaluation.