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A simple humanoid biped robot has been developed as teaching material for university students who want to fabricate intelligent robots. Affordable key components are used so that students can fabricate the whole robot themselves step by step to understand each level. Evaluation experiments were conducted by undergraduate students. The results of a questionnaire showed that over half of respondents were interested in fabricating the robot. The evaluation confirmed that the robot was suitable as teaching material.

This paper presents a tray carrying robot for hospital use. A patient puts his or her personal belongings on trays, and the trays are stored in a separate tray rack located in a corner of a hospital ward. The tray carrying robot goes back and forth between a patient and the tray rack along single or multiple guide lines on the floor or ceiling. The guide line attached to the ceiling of a hospital ward is also proposed.

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： A robotic wheelchair with inverse pendulum control has been proposed for a wheelchair − bound person to climb over a step without a helper ' s assistance ． The robotic wheelchair raises its front wheels in 貸ont of a step ， and maintains the inverse pendulum control ． The human emotion ofthe rider during the inverse pendulum control has been discussed in this paper ． Keywords ： Robotic wheelchair ， lnverse pendulum Control ， Step climbing ， Human emotion 1， 緒 言