With the aim of reducing the difficulties faced by handicapped people and those responsible for their care and nursing, we have undertaken research on the development of a four-wheeled mobile robot system to provide assistance in the daily activities of the bedridden and handicapped. The characteristics of this system are (1) front-wheel power steering and independently directly driven rear wheels, (2) one pair of manipulators which have nine degrees of freedom mounted on the four-wheeled mobile device, and (3) a hierarchical control system with one 16 bit and several 8 bit microcomputers. We utilize a teaching-playback method to develop control programs for specific activities. As a result of our research and development, we have succeeded in establishing fundamental techniques for mobile robot systems for bedridden patients.
|Number of pages||8|
|Publication status||Published - 1986|
ASJC Scopus subject areas
- Control and Systems Engineering