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Development of A Stair Climbing Wheelchair Without An Attendance

Research Project

Project/Area Number 10838045
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field リハビリテーション科学
Research InstitutionKansai University

Principal Investigator

AWA Keizo  Kansai University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (70067700)

Co-Investigator(Kenkyū-buntansha) SHIRAKI Kazuhiro  Kansai University, Faculty of Engineering, Professor, 工学部, 教授 (80268309)
Project Period (FY) 1998 – 1999
Project Status Completed (Fiscal Year 1999)
Budget Amount *help
¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 1999: ¥200,000 (Direct Cost: ¥200,000)
Fiscal Year 1998: ¥1,900,000 (Direct Cost: ¥1,900,000)
KeywordsWheelchair / Stair climbing robot / automatic pilot / Subsumption Architecture / SSA / Reliable Control / 階段昇降 / サブサンプションアーキテクチャー
Research Abstract

It is not easy for disabled and elderly people to move around with wheelchairs even at public places where all citizen lead a life because of steps, and then elevators or lopes should be equipped at these places. However, under the actual situation in Japan there are few places. In this social background we have developed a new stair climbing mobile robot. There are many kinds of stair climbing robots, but most of them are for the maintenance of nuclear or other power plants, some are for disabled and elderly people as wheelchairs.
This robot has tow wheels in the front of the body to support its weight when it moves on flat terrain, and it also has arms between the wheels to hook onto a tread of stairs. These are tow pairs of legs in the rear of body. Using not only the rotational torque of the arms and the wheels but also the force of the legs, the robot goes up and down stairs. It measures the size of stairs by a CCD camera when going up and down the first step, therefore the measurement process does not cause this robot to lose any time. The computer which controls the motion of the robot needs no complicated calculations as other legged robots do. The control system of the robot is developed by applying the Subsumption Architecture (SSA). This architecture is expectable to achieve high effectiveness in robustness. Then we recognized the effectiveness of this mechanism and system from experimental results. We proposed the prototype of this mechanism and the control algorithm with SSA. The effectiveness of this mechanism is recognized from the experimental results. We will develop the robot with this mechanism for disabled and elderly people.

Report

(3 results)
  • 1999 Annual Research Report   Final Research Report Summary
  • 1998 Annual Research Report
  • Research Products

    (6 results)

All Other

All Publications (6 results)

  • [Publications] 阿波啓造、白木万博: "脚と車輪を有する階段昇降可能なロボットの開発 -SSAを用いたシステムの設計-"日本機械学会関西支部講演会講演論文集. No. 994-1. 8-25-26 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 阿波啓造、白木万博: "車輪型階段昇降ロボットの開発 -リライアブルコントロールを用いた安全性対策"日本機械学会関西支部講演会講演論文集. No. 994-1. 13-13-14 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Keizo Awa, Kazuhiro Shiraki: "Development of A Stair Climbing Mobile Robot with Legs and Wheels - A Design of the System Based on Subsumption Architecture-"Proceeding of lecture meeting JSME. 994-1. 8-25-26 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Keizo Awa, Kazuhiro Shiraki: "The development of a stairs climbing robot with wheels and nail disks -A safety Countermeasure with using the Reliable Control-"Proceeding of lecture meeting JSME. 994-1. 13-13-14 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 阿波啓造、白木万博: "脚と車輪を有する階段昇降可能なロボットの開発 -SSAを用いたシステムの設計ー"日本機械学会関西支部講演会講演論文集. No.994-1. 8-25-26 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 阿波啓造、白木万博: "車輪型階段昇降ロボットの開発 -リライアブルコントロールを用いた安全性対策ー"日本機械学会関西支部講演会講演論文集. No.994-1. 13-13-14 (1999)

    • Related Report
      1999 Annual Research Report

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Published: 1998-04-01   Modified: 2016-04-21  

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