Abstract
The present paper describes step-climbing tactics using a wheeled robot and a hand cart that has a hand brake. The robot has two arms that are used to hold or push the handle of the cart and a lower extendable wheel mechanism that can push against the bottom of the cart. Some of the manipulator joints are controlled passively when moving over the step. To lift the front wheels of the cart, the robot holds the handle steady and pushes against the bottom of the cart using the extendable wheel mechanism. This action is similar to that performed by a human. The robot then pushes the entire cart forward so that the front wheels of the cart are above the step. When the rear wheels of the cart have climbed the step, the upper-arm links of the manipulators are pressed against the robot chest to allow the robot to push the cart. When the cart has fully climbed the step, the robot then uses the cart to climb the step. The present paper describes the details of the robot system, and theoretical analyses were performed to determine the requirement of masses and the centers of gravity of both vehicles to lift the cart. Experiments were also carried out in which the robot was controlled using an intranet connection, and the results demonstrated the effectiveness of the proposed method.
Highlights
Hand carts and shopping carts are used all over the world to help people convey baggage.In recent years, several robotic carts have been investigated, including an autonomous cart that follows the user [1,2], a robotic cart that helps the operator when transporting heavy baggage [3], and transportation using a cart connected to an omnidirectional mobile robot [4,5]
Ohno proposed a method of transportation of a hand cart using ASIMO (HONDA Co., Ltd., Tokyo, Japan), a legged locomotion robot with dual manipulators [7]
The present paper proposes a step-climbing method for a hand cart and a partner robot that uses an action that is similar to that performed by a human
Summary
Hand carts and shopping carts are used all over the world to help people convey baggage. In transporting heavy baggage using a push-cart, it is very difficult to control the cart at a step because the incline of the vehicle is always changing, and the reaction force from the cart is changing. The research group of the present study has achieved cooperative step climbing using a wheelchair and a partner robot with manipulators [15] and have proposed a cooperative step-climbing system using a hand cart and a robot [16]. The proposed step-climbing method uses the difference in velocity between connected vehicles, which considers the robot driving force, and the wheelchair driving force. The present paper proposes a step-climbing method for a hand cart and a partner robot that uses an action that is similar to that performed by a human.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
