Research using a human-coordinated inverted two-wheeled vehicle

 We are conducting research and development of stair climbing robots with the goal of realizing a robot that can move freely in a stair environment with a shape suitable for the human living area. Conventional stair climbing robots have the weakness that many of them are large, heavy, and have complex configurations.

・High mobility
・Relatively lightweight
・Simple configuration, low cost

 Therefore, the robot used in this research aims to realize a stair-climbing robot that satisfies the above three requirements. Another feature of this robot is that it can ascend and descend stairs even if the stairs do not have side portions. When traveling on a flat surface, the robot runs as an inverted two-wheeled vehicle with the front wheels raised. When ascending or descending stairs, the robot can shift its center of gravity to just above the point of contact with the stairs by tilting the cane part.

板垣郁弥, 松原央尭, 石井眞二, 長津裕己, 橋本秀紀, “重心移動を用いた階段昇降機能を有するロボットの提案”, ロボット・メカトロニクス講演会2021, 2A1-G0
板垣郁弥, 大平峻, 橋本秀紀, “重心移動型階段昇降ロボットの移動制御に関する研究”, 第40回日本ロボット学会学術講演会, 1C1-03
長田宗一郎, 板垣郁弥, 長津裕己, 橋本秀紀, “非線形モデル予測制御のクローラータイプ階段昇降ロボットへの適用に関する研究”, ロボティクス・メカトロニクス講演会2022 in Sapporo

Research using a human-coordinated inverted two-wheeled vehicle

 In recent years, the shortage of labor due to the declining birthrate and aging society has become an issue, and moves to introduce robots into the real world to assist people in their work and daily lives are being promoted. In particular, there is a need to introduce robots that can cope with stairs, and there is a demand for human-coordinated vehicles in which humans and robots can take advantage of each other’s strengths. Therefore, we are conducting research on a human-coordinated inverted two-wheeled vehicle that can ascend and descend stairs.

 It also reduces the human power required for human-coordinated vehicles. In addition, we are also enhancing human-coordinated vehicles using biometric signals such as myoelectric potentials.

長屋佳寿, 大平峻, 橋本秀紀, “倒立二輪型ビークルの階段乗り上げ時の運動解析”, 第40回日本ロボット学会学術講演会, 1C1-05
長屋佳寿, 長津裕己, 橋本秀紀, “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”, ロボティクス・メカトロニクス講演会2022 in Sapporo
田中康斗,長屋佳寿,長津裕己, 橋本秀紀, “倒立二輪ビークルの人間追従に関する手法の提案”, ロボティクス・メカトロニクス講演会2022 in Sapporo

Research and development of a stair climbing robot using transformers

 We are conducting research and development of an autonomous and human-enhanced mobile robot. The robot has two modes: an inverted two-wheel mode and a four-wheel mode. Each has the following features.

 On flat surfaces, it runs on two inverted wheels for superior maneuverability, and transforms into a four-wheeled vehicle when ascending or descending stairs. It transforms to suit the situation, and the disadvantages of each mode are compensated for by the advantages of each mode, enabling it to travel in any situation. The vehicle can be used to transport cargo, and when ascending or descending stairs, it can be used in autonomous mode or in cooperation with humans.

路通, 長津裕己, 橋本秀紀, “変形車体を用いた階段昇降ロボットの提案”, ロボティクス・メカトロニクス講演会2022 in Sapporo
鈴木剛, 路通, 長津裕己, 橋本秀紀, “トライスターホイールを用いたロボットによる階段降下に関する検討”, ロボティクス・メカトロニクス講演会2022 in Sapporo
Tong Lu, Fumiya Itagaki, Yuki Nagatsu and Hideki Hashimoto, “Dynamics and transformation control of a wheeled inverted pendulum mobile robot,” 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022, pp.463-468