This paper deals with the development of a stairclimbing mobile robot with legs and wheels. The main technical issues in developing this type of robot are the stability and speed of the robot while climbing stairs. The robot has two 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 the tread of stairs. There are two pairs of legs in the rear of the body. Using not only the rorational 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 when going up and down the first step, and 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 mechanism of this robot and the control algorithm are described in this paper. This robot will be developed as a wheelchair with a stair climbing mechanism for disabled and elderly people in the near future.
The arrival of the aging society means the increase in the human with the feeble body And the lncrease of the lnjury by traffic accidents , etc . ts eonnected with the increase in the human who requires the recovery of hls strength . Social necessity such as rehab 且itation or training equipment that can be used easny hei 巳 htens . Therefore, the expectation to the welfare equipment more and more heighte 艮 . Then, we proposed the training equipment tha し was gentle for the human by the beginning movement load theory , alld it was made experimentaUy In averagingthe electromyogram detected under training, the slze of the training load is decided, By the exl 〕eriments , it was confirmed to be effective of this technique ,
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