Study on a mechanism and control of a wheelchair constituting of wheels that are effective in climbing stairs and rolling without slippery

• Project/Area Number: 21560259
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Niigata University
• Principal Investigator: OKADA Tokuji 新潟大学, 自然科学系, 教授 (60194362)
• Co-Investigator(Renkei-kenkyūsha): SHIMIZU Toshimi 新潟大学, 自然科学系, 助教 (70377183)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2010: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2009: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
• Keywords: 車いす / 段差 / 特殊車輪 / バリアフリー / 足 / スキッドステア車 / 車輪速度差制御 / メカトロニクス / 車輪滑り

Research Abstract

For the purpose of improving mobility and performance of four-wheeled skid-steering mobile robots(4 WSSMRs) on rough terrain, we studied a wheel mechanism installing six ankle joints at circumferential positions of a wheel for landing by the toe of each foot one by one. Traverse-ability to evaluate a performance of stepping up/over obstacles concerned with including its reverse motion has been introduced.

Research Products

• [Journal Article] Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels (2012)
  • Author(s): T. Okada, A. Mahmoud, W. Botelho, T. Shimizu
  • Journal Title: J. ROBOTICA Volume: vol.30 No.1 Pages: 123-132
  • Peer Reviewed
• [Journal Article] Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels (2012)
  • Author(s): T.Okada, A.Mahmoud, W.Botelho, Toshimi Shimizu
  • Journal Title: J.ROBOTICA Volume: 30(1) Pages: 123-132
  • Peer Reviewed
• [Journal Article] 動作自由度数を低減した脚車輪型移動ロボットの駆動機構と歩行および走行の双方向切換え制御 (2011)
  • Author(s): 岡田徳次、ボテリョ・ヴァーグナ、清水年美
  • Journal Title: 日本ロボット学会誌 Volume: 29 Pages: 306-316
  • Peer Reviewed
• [Journal Article] Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes (2011)
  • Author(s): W. Botelho, T. Okada, A. Mahmoud, T. Shimizu
  • Journal Title: Brazilian J. Control & Automation Volume: vol.22 No.1 Pages: 9-22
  • Peer Reviewed
• [Journal Article] Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes (2011)
  • Author(s): W.Botelho, T.Okada, A.Mahmoud, T.Shimizu
  • Journal Title: Brazilian J.Control & Automation Volume: 22(1) Pages: 9-22
  • Peer Reviewed
• [Journal Article] Motion Analysis with Experimental Verification of the Hybrid Robot (2010)
  • Author(s): T. Okada, W. Botelho, T. Shimizu
  • Journal Title: Journal of Robotics Research Volume: vol.29 No.9 Pages: 1199-1221
  • Peer Reviewed
• [Journal Article] Motion analysis with experimental verification of the hybrid robot, PEOPLER-II, for reversible switch between walk and roll on demand (2010)
  • Author(s): T.Okada, W.Botelho, T.Shimizu
  • Journal Title: Journal of Robotics Research Volume: 29巻9号 Pages: 1199-1221
  • Peer Reviewed
• [Journal Article] A simulation for estimating a circular trajectory of a four-legged robot on regular terrain (2009)
  • Author(s): A. Mahmoud, T. Okada, T. Shimizu
  • Journal Title: Journal of Cybernetics and Systems Volume: vol.2 Pages: 9-16
  • Peer Reviewed
• [Journal Article] Passivity-based control of a magnetically levitated flexible beam (2009)
  • Author(s): T. Shimizu, Y. Kobayashi, M. Sasaki, T. Okada
  • Journal Title: J. of Robust and Nonlinear Control Volume: vol.19 Pages: 662-675
  • Peer Reviewed
• [Journal Article] Smooth Switching Phases Control with Simulation and Experimental Verification of a Hybrid Mobile Robot from Leg-type to Wheel-type and Vice Versa (2009)
  • Author(s): W. T. Botelho, T. Okada, T. Shimizu
  • Journal Title: Journal of Cybernetics and Systems Volume: vol.2 Pages: 113-120
  • Peer Reviewed
• [Journal Article] Motion Analysis with Experimental Verification of the Hybird Robot, PEOPLER-II, for Reversible Switch between Walk and Roll On Demand (2009)
  • Author(s): T.Okada, W.Botelho, T.Shimizu
  • Journal Title: Journal of Robotics Research On-line Publishment
  • Peer Reviewed
• [Journal Article] Smooth Switching Phases Control with Simulation and Experimental Verfication of a Hybird Mobile Robot from Leg-tyge to Wheel-type and Vice Versa (2009)
  • Author(s): W.T.Botelho, T.Okada, T.Shimizu
  • Journal Title: Journal of Cybernetics and Systems 2(2) Pages: 113-120
  • Peer Reviewed
• [Journal Article] Passivity-based control of a magneticfally levitated flexible beam (2009)
  • Author(s): T.Shimizu, Y.Kobayashi, M.Sasaki, T.Okada
  • Journal Title: J.of Robust and Nonlinear Control 19(6) Pages: 662-675
  • Peer Reviewed
• [Journal Article] A simulation for estimating a circular trajectory of a four-legged robot on regular terrain (2009)
  • Author(s): A.Mahmoud, T.Okada, T.Shimizu
  • Journal Title: Journal of Cybernetics and Systems 2(1) Pages: 9-16
  • Peer Reviewed
• [Presentation] スキッドステア車に付けられた足のセンサ制御 (2011)
  • Author(s): 岡田徳次、佐々木雄介
  • Organizer: 第29回RSJ学術講演会
  • Place of Presentation: 芝工大
  • Year and Date: 2011-09-07
• [Presentation] 二本足を含む仮想四節リンク機構の変形による乗4/5り上げ動作 (2011)
  • Author(s): 岡田徳次、杉森圭瑞夫、手塚悟
  • Organizer: 第29回RSJ学術講演会
  • Place of Presentation: 芝工大
  • Year and Date: 2011-09-07
• [Presentation] 複数足をもつスキッドステア車の傾きを低減する構造設計と制御 (2011)
  • Author(s): 岡田徳次、手塚悟、藤田隆義
  • Organizer: 第29回RSJ学術講演会
  • Place of Presentation: 芝工大
  • Year and Date: 2011-09-07
• [Presentation] 複数足をもつスキッドステア車の傾きを低減する構造設計と制御 (2011)
  • Author(s): 岡田徳次、手塚悟、藤田隆義
  • Organizer: 第29回日本ロポット学会学術講演会
  • Place of Presentation: 芝浦工業大学
  • Year and Date: 2011-09-07
• [Presentation] 二本足を含む仮想四節リンク機構の変形による乗り上げ動作 (2011)
  • Author(s): 岡田徳次、杉森圭瑞夫、手塚悟
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 芝浦工業大学
  • Year and Date: 2011-09-07
• [Presentation] スキッドステア車に付けられた足のセンサ制御 (2011)
  • Author(s): 岡田徳次、佐々木雄介
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 芝浦工業大学
  • Year and Date: 2011-09-07
• [Presentation] Sensor-Based Control of a Skid-Steering Mobile Robot Combined with Feet for Moving on All Terrain (2011)
  • Author(s): T. Okada, S. Tezuka, Y. Sasaki
  • Organizer: 14th Conf. on CLAWAR
  • Place of Presentation: Paris
  • Year and Date: 2011-09-06
• [Presentation] Sensor-Based Control of a Skid-Steering Mobile Robot Combined with Feet for Moving on All Terrain (2011)
  • Author(s): T.Okada, S.Tezuka, Y.Sasaki
  • Organizer: 14^<th> Conf.on CLAWAR
  • Place of Presentation: Paris
  • Year and Date: 2011-09-06
• [Presentation] 四輪スキッドステア車の左右車輪の速度比が走行軌跡に与える影響の実験的考察 (2011)
  • Author(s): 岡田徳次、高橋俊介、マーモウドアビア
  • Organizer: JSMEロボティクス・メカトロニクス講演会
  • Place of Presentation: 岡山産業技術センター
  • Year and Date: 2011-05-27
• [Presentation] 足をもつスキッドステア車の対地適応移動制御 (2011)
  • Author(s): 岡田徳次、手塚悟、佐々木雄介
  • Organizer: JSMEロボティクス・メカトロニクス講演会
  • Place of Presentation: JSMEロボティクス・メカトロニクス講演会
  • Year and Date: 2011-05-27
• [Presentation] 足をもつスキッドステア車の対地適応移動制御 (2011)
  • Author(s): 岡田徳次、手塚悟、佐々木雄介
  • Organizer: JSMEロボティクス・メカトロニクス講演会
  • Place of Presentation: 岡山コンベンションセンター
  • Year and Date: 2011-05-27
• [Presentation] 四輪スキツドステア車の左右車輪の速度比が走行軌跡に与える影響の実験的考察 (2011)
  • Author(s): 岡田徳次、高橋俊介、マーモウド アビア
  • Organizer: JSMEロボティクス・メカトロニクス講演会
  • Place of Presentation: 岡山コンベンションセンター
  • Year and Date: 2011-05-27
• [Presentation] 整地歩行速度むら脚型スキッドステア移動ロボットの不の改善策について (2010)
  • Author(s): 岡田徳次、日野浩二
  • Organizer: 第11回SICEシステムインテグレーション部門講演会(SI2010)
  • Place of Presentation: 東北大
  • Year and Date: 2010-12-23
• [Presentation] 整地歩行速度むら脚型スキッドステア移動ロボットの不の改善策について (2010)
  • Author(s): 岡田徳次、日野浩二
  • Organizer: 第11回計測自動制御学会システムインテグレーション部門講演会(SI2010)
  • Place of Presentation: 東北大
  • Year and Date: 2010-12-23
• [Presentation] Trajectory estimation of a skid-steering mobile robot incorporating free wheels (2010)
  • Author(s): T. Okada, A. M. Mahmoud, W. T. Botelho
  • Organizer: Int. Conf. on Intelligent Robotics and Applications
  • Place of Presentation: Shanghai
  • Year and Date: 2010-11-11
• [Presentation] Trajectory estimation of a skid-steering mobile robot incorporating free wheels (2010)
  • Author(s): T.Okada, A.M.Mahmoud, W.T.Bot elho
  • Organizer: Int.Conf.on Intelligent Robotics and Applications
  • Place of Presentation: 上海(中国)
  • Year and Date: 2010-11-11
• [Presentation] Motion analysis of a skid-steering mobile robot and estimation of walking trajectory (2010)
  • Author(s): T. Okada, A. M. Mahmoud, W. T. Botelho
  • Organizer: Int. Conf. on Robotics and Applications
  • Place of Presentation: Boston
  • Year and Date: 2010-11-03
• [Presentation] Motion analysis of a skid-steering mobile robot and estimation of walking trajectory (2010)
  • Author(s): T.Okada, A.M.Mahmoud, W.T.Bot elho
  • Organizer: Int.Conf.on Robotics and Applications
  • Place of Presentation: ボストン(米国)
  • Year and Date: 2010-11-03
• [Presentation] ハイブリッド型移動ロボットの階段昇降のための一歩行法 (2010)
  • Author(s): 岡田徳次、武田透
  • Organizer: 第28回RSJ学術講演会
  • Place of Presentation: 名工大
  • Year and Date: 2010-09-24
• [Presentation] 足をつける車輪型スキッドステア移動ロボットの機構と制御 (2010)
  • Author(s): 岡田徳次、手塚悟、星野真志
  • Organizer: 第28回RSJ学術講演会
  • Place of Presentation: 名工大
  • Year and Date: 2010-09-24
• [Presentation] Control of a wheel-driven legged robot for moving uniformly without vertical sway (2010)
  • Author(s): T. Okada, Y. Yoshida, Y. Tomihara
  • Organizer: Int. Conf. on Climbing and Walking Robots
  • Place of Presentation: Nagoya
  • Year and Date: 2010-09-02
• [Presentation] Control of a wheel-driven legged robot for moving unifcormly without vertical sway (2010)
  • Author(s): T.Okada, Y.Yoshida, Y.Tomihara
  • Organizer: Int.Conf.on Climbing and Walking Robots
  • Place of Presentation: 名古屋工業大学
  • Year and Date: 2010-09-02
• [Presentation] 足をっける車輪型スキッドステア移動ロボットの機構と制御 (2010)
  • Author(s): 岡田徳次、手塚悟、星野真志
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 名工大
  • Year and Date: 2010-09-02
• [Presentation] ハイブリッド型移動ロボットの階段昇降のための-歩行法 (2010)
  • Author(s): 岡田徳次、武田透
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 名工大
  • Year and Date: 2010-09-02
• [Presentation] ハイブリッドロボットの上下動作に有効な姿勢設計 (2010)
  • Author(s): 金内勇人、岡田徳次
  • Organizer: 日本機械学会北陸信越支部第47期総会・講演会
  • Place of Presentation: 新潟大
  • Year and Date: 2010-03-10
• [Presentation] ハイブリッドロボットの上下動作に有効な姿勢設計 (2010)
  • Author(s): 金内勇人、岡田徳次
  • Organizer: 日本機械学会北陸信越支部 第47期総会・講演会
  • Place of Presentation: 新潟大学(工学部)
  • Year and Date: 2010-03-10
• [Presentation] 拮抗二関節筋を持つロボットアームへの適用を目指した動的可操作性楕円体の拡張 (2009)
  • Author(s): 井口陽、岡田徳次、清水年美
  • Organizer: 第10回SICEシステムインテグレーション部門講演会
  • Place of Presentation: 芝工大
  • Year and Date: 2009-12-24
• [Presentation] 拮抗二関節筋を持つロボットアームへの適用を目指した動的可操作性楕円体の拡張 (2009)
  • Author(s): 井口陽、岡田徳次、清水年美
  • Organizer: 第10回SICEシステムインテグレーション部門講演会
  • Place of Presentation: 芝浦工業大学(豊洲キャンハス)
  • Year and Date: 2009-12-24
• [Presentation] Estimation and Verification of the Trajectory Forms Generated by a Legged Sliding Robot (2009)
  • Author(s): A. Mahmoud, T. Okada, W. Botelho
  • Organizer: IEEE Int. Conf. on Robotics and Biomimetics
  • Place of Presentation: China
  • Year and Date: 2009-12-20
• [Presentation] Estimation and Verification of the Trajectory Forms Generated by a Legged Sliding Robot (2009)
  • Author(s): A.Mahmoud, T.Okada, W.Botelho
  • Organizer: IEEE Int.Conf. on Robotics and Biomimetics
  • Place of Presentation: China (Guilin of Guangxi)
  • Year and Date: 2009-12-20
• [Presentation] 車輪速度制御車両の路面摩擦係数を考慮した移動軌跡の解析 (2009)
  • Author(s): 岡田徳次、モハメドアビア、ボテリョバーグナ
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国大
  • Year and Date: 2009-09-15
• [Presentation] 脚型ロボットの脚回転による車高一定歩行 (2009)
  • Author(s): 岡田徳次、吉田友也
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国大
  • Year and Date: 2009-09-15
• [Presentation] 脚揺動による歩行ロボットの等高等速歩行制御法 (2009)
  • Author(s): 岡田徳次、富原裕士
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国大
  • Year and Date: 2009-09-15
• [Presentation] 足付き車輪の提案 (2009)
  • Author(s): 岡田徳次、阿部康治
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国大
  • Year and Date: 2009-09-15
• [Presentation] 足付き車輪の提案 (2009)
  • Author(s): 岡田徳次、阿部康治
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国立大学
  • Year and Date: 2009-09-15
• [Presentation] 脚揺動による歩行ロボットの等高等速歩行制御法 (2009)
  • Author(s): 岡田徳次、富原裕士
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国立大学
  • Year and Date: 2009-09-15
• [Presentation] 脚型ロボットの脚回転による車高一定歩行 (2009)
  • Author(s): 岡田徳次、吉田友也
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国立大学
  • Year and Date: 2009-09-15
• [Presentation] 車輪速度制御車両の路面摩擦係数を考慮した移動軌跡の解析 (2009)
  • Author(s): 岡田徳次、モハメドアビア、ボテリョバーグナ
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国立大学
  • Year and Date: 2009-09-15
• [Presentation] Trajectory Analysis of an Independently Driven Wheeled Robot and its Experimental Verification (2009)
  • Author(s): T. Okada, A. Mahmoud, W. T. Botelho, T. Shimizu
  • Organizer: Int. Conf. on Climbing and Walking Robots
  • Place of Presentation: Istanbul
  • Year and Date: 2009-09-09
• [Presentation] Trajectory Analysis of an Independently Driven Wheeled Robot and its Experimental Verification (2009)
  • Author(s): T.Okada, A.Mahmoud, W.T.Botelho, T.Shimizu
  • Organizer: Int.Conf. on Climbing and Walking Robots
  • Place of Presentation: Turkey (Istanbyl)
  • Year and Date: 2009-09-09
• [Presentation] Investigating Motion and Trajectory Forms of a Wheeled Mobile Robot on a Flat Surface with an Inclination Angle (2009)
  • Author(s): A. Mahmoud, T. Okada, W. T. Botelho
  • Organizer: Int. Conf. on Control Automation and Systems(ICCAS-SICE 2009)
  • Place of Presentation: Fukuoka International Congress
  • Year and Date: 2009-08-20
• [Presentation] Investgating Motion and Trajectory Forms of a Wheeled Mobile Robot on a Flat Surface with an Inclination Angle (2009)
  • Author(s): A.Mahmoud, T.Okada, W.T.Botelho
  • Organizer: Int. Conf. on Control Automation and Systems (ICCAS-SICE 2009)
  • Place of Presentation: Japan (Hakata)
  • Year and Date: 2009-08-20
• [Book] Intelligent Robotics and Applications(Part-II) (2010)
  • Author(s): T.Okada, A.M.Mahmoud, W.T.Bot elho
  • Total Pages: 4
  • Publisher: Trajectory estimation of a skid-steering mobile robot incorporating free wheels
• [Remarks] 新聞発表(新潟日報朝刊、2009年12月5日)
  • URL: http://scf.jp/press.html
• [Remarks]
  • URL: http://okada.eng.niigata-u.ac.jp
• [Remarks]
  • URL: http://okada.eng.niigata-u.ac.jp
• [Remarks]
  • URL: http://okada.eng.niigata-u.ac.jp
• [Patent(Industrial Property Rights)] 移動防止装置付き車いす (2011)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Filing Date: 2011-08-29
• [Patent(Industrial Property Rights)] 足つき車いす (2011)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Filing Date: 2011-08-29
• [Patent(Industrial Property Rights)] 移動防止装置付き車いす (2011)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Filing Date: 2011-08-29
• [Patent(Industrial Property Rights)] 脚型車輪型兼用移動装置 (2010)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Acquisition Date: 2010-09-24
• [Patent(Industrial Property Rights)] 走行形態切換え装置および制御方法 (2010)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Acquisition Date: 2010-09-24
• [Patent(Industrial Property Rights)] Driving mode switching apparatusand control method therefor (2010)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Acquisition Date: 2010-02-23
  • Overseas
• [Patent(Industrial Property Rights)] 出入り足を備えた車輪装置 (2010)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Filing Date: 2010-05-15
• [Patent(Industrial Property Rights)] 走行形態切換え装置および制御方法 (2010)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Acquisition Date: 2010-09-24
• [Patent(Industrial Property Rights)] 脚型車輪型兼用移動装置 (2010)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Acquisition Date: 2010-09-24
• [Patent(Industrial Property Rights)] Driving mode switching apparatus and control method therefor (2010)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Acquisition Date: 2010-02-23
  • Overseas
• [Patent(Industrial Property Rights)] 足つき車いす (2009)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Filing Date: 2009-08-29
• [Patent(Industrial Property Rights)] 出入り足を備えた車輪装置 (2009)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟大学
  • Filing Date: 2009-05-15
• [Patent(Industrial Property Rights)] 脚型ロボットの安定歩行法、歩幅制御法、操舵法、およびその装置 (2009)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟TLO
  • Acquisition Date: 2009-05-15
• [Patent(Industrial Property Rights)] 脚型ロボットの安定歩行法、歩幅制御法、操舵法、およびその装置 (2009)
  • Inventor(s): 岡田徳次
  • Industrial Property Rights Holder: 新潟TLO
  • Acquisition Date: 2009-05-15