The Method of Step Climbing Using a Wheeled Robot and a Wheelchair

摘要

This paper describes a method of cooperative strategy which enables a wheelchair and a wheeled robot to climb a step by a simple link mechanism which connects between them. We perform a numerical calculation to clarify the combination of two supporting positions of the connecting link that connects the two vehicles which enable them to climb a step and is stable at the same time. We conclude from the result of the simulation that it is necessary to change the link positions to climb a step safely. We ascertain the effectiveness of this method by means of experiments.