RT-Mover僔儕乕僘偺奣梫

幵椫堏摦偲媟堏摦偵偼埲壓偺摿挜偑偁傞丏

幵椫堏摦丗僋儘乕儔傗媟傛傝傕崅偄僄僱儖僊岠棪偱偺崅懍堏摦

媟堏摦丗楬柺偲偺棧嶶愙抧偵婲場偡傞崅偄晄惍抧堏摦擻椡

丂擔忢惗妶娐嫬偼曑憰楬柺偑庡懱偱偁傞偑丆抜嵎傗悢抜偺奒抜丆幬柺側偳偺晄惍抧偑嶶嵼偡傞丏巊梡応強偱偺堏摦岠棪乮僄僱儖僊惈擻丆崅懍惈擻乯傪廳帇偟偨忋偱丆廫暘側堏摦擻椡傪幚尰偝偣偨偺偑RT-Mover僔儕乕僘偱偁傞丏

亂僐儞僙僾僩亃
乽捠忢偼幵椫堏摦乿亄乽昁梫偵墳偠偰媟堏摦乿

= "RT-Mover Gait Algorithm"

Introduction of a series of RT-Mover

The development concept for RT-Movers centres on efficient wheel transport over paved surfaces and other gentle terrain but also envisions a need to negotiate rough terrain.
Two major mechanism for moving are a wheel mechanism and a leg mechanism. Each mechanism has the following features;
-Wheel mechanism: good energy efficiency rather than crawler or leg mechanism
-Leg mechanism: high mobility performance on rough terrain

[Concept of gait algorithm]
"Wheel mode, normally" + "Leg motion, if necessary"

= "RT-Mover Gait Algorithm"

[Papers and patents on RT-Mover are at the bottom of the page.]

Performance of RT-Mover PType 3

亂RT-Mover僔儕乕僘偵娭偡傞榑暥傗摿嫋亃

丂[paper 5]乮儁乕僕壓嶲徠乯偼RT-Mover偺婡峔傗堏摦尨棟傪採埬偟偨榑暥偱偁傞丏[paper 2 - 4]偼RT-Mover僔儕乕僘偺搵忔宆斉PType偵娭偡傞傕偺偱偁傞丏婡懱奐敪丆曕梕惗惉傾儖僑儕僘儉丆晄惍抧楬柺揔墳斖埻暘愅側偳偺娤揰偱傑偲傔丆 IEEE傎偐奀奜偺妛弍嶨帍偵宖嵹丏[paper 1]偼丆梡搑偵墳偠偨RT-Mover偺愝寁巜恓偵娭偡傞榑暥偱偁傝丆愝寁岺妛夛偐傜榑暥徿傪庴徿丏[patent 1 - 3]偼堏摦曽幃偵娭偡傞庢摼嵪傒摿嫋偱偁傞丏撈摿側堏摦曽幃偱幵偄偡偺傛偆側堏摦懱偑抜嵎傪堏摦偡傞偙偲偐傜幮夛揑側斀墳傕嫮偔丆 懡偔偺儊僨傿傾偐傜偦偺尋媶惉壥偵偮偄偰庢嵽傪庴偗丆傑偨曬摴偑側偝傟偨乮椺丗[press 1,2]乯丏

丂偦偺屻丆PType WA傪怴婯奐敪偟丆尋媶傪恑傔丆cybathlon 2016偵弌応偟偨丏妛弍揑偵傕尋媶偼昡壙偝傟丆椺偊偽[paper 6] ? [paper 8]偵偦偺惉壥傪敪昞偟偨丏

RT-Mover PType 3

婎杮巇條丂Basic specifications

丒揹摦幵偄偡偺JIS婯奿(JIS T9203)偵弨嫆偟偨僒僀僘偱Maximum speed: 5.4km

丒忢偵僔乕僩晹暘傪悈暯偵曐偭偨晄惍抧堏摦偑壜擻
丂Capability of moving on rough terrain with maintaining its seat horizontally

丒媟塣摦傗屪偓摦嶌偵偼丆儘乕儖幉偲僗僥傾儕儞僌幉偐傜惉傞乽烡婡峔乿傪嵦梡
丂Leg motion is realized by using its rolling and steering axis of wheel axle.

丒憤嬱摦悢偼13

Tab.1 Main specification of PType 3

堏摦儌乕僪丂Moving mode

1.幵椫堏摦丂Wheel mode
2.偦偺応慁夞丂Pivoting
3.媟摦嶌丂Leg motion

亂埨慡惈岦忋偺偨傔偺晅壛婡擻亃丂[Additional function for safety]
丒僔乕僩僗儔僀僪婡峔丗廳怱堏摦丂Seat sliding
丒曗彆媟婡峔丗巟帩媟偺憹壛丂Auxiliary leg

婛懚揹摦僇乕僩偲PType 3偲偺斾妑
Comparison between conventional vehicle and PType 3

墶抐僗儘乕僾憱峴
Traverse on slope

忈奞暔傊偺懳墳
Getting over an obstacle

抜嵎偺忋傝壓傝乮惓柺偐傜乯
Climb a step up and down from the front

抜嵎偺忋傝壓傝乮幬傔偐傜乯
Climb a step up and down with an angle

Reference

[paper 1] 拞搱廏楴丆嬤摗戱恀,乬晄惍抧堏摦僾儔僢僩僼僅乕儉RT-Mover僔儕乕僘偺愝寁巜恓乭丆愝寁岺妛丆vol.47, no.9, pp.423-432, 2012.
[paper 2] Shuro Nakajima,乬Proposal of a personal mobility vehicle capable of traversing rough terrain,乭Disability and Rehabilitation: Assistive Technology, vol.9, no.3, pp.248-259, 2014.
[paper 3] Shuro Nakajima,乬Gait algorithm of personal mobility vehicle for negotiating obstacles,乭Disability and Rehabilitation: Assistive Technology, vol.9, no.2, pp.151-163, 2014.
[paper 4] Shuro Nakajima,乬Improved Gait Algorithm and Mobility Performance of RT-Mover Type Personal Mobility Vehicle,乭IEEE Access, vol.2, no.1, pp.26-39, 2014.
[paper 5] Shuro Nakajima,乬RT-Mover: a rough terrain mobile robot with a simple leg-wheel hybrid mechanism,乭The International Journal of Robotics Research, vol.30 Issue 13, pp.1609-1626, 2011.
[paper 6] Shuro Nakajima, 乬A New Personal Mobility Vehicle for Daily Life: Improvements on a New RT-Mover that Enable Greater Mobility are Showcased at the Cybathlon,乭 IEEE Robotics and Automation Magazine, vol.24, issue 4, pp.37-48, 2017.
[paper 7] 拞搱廏楴丆乬崙嵺嫞媄夛僒僀僶僗儘儞傪捠偠偨堏摦僾儔僢僩僼僅乕儉偺堏摦惈擻妋擣偲4埵擖徿偐傜偺抦尒乭丆擔杮儘儃僢僩妛夛帍丆vol.35, no.10, pp.739-749, 2017.
[paper 8] Shuro Nakajima, 乬Evaluation of the Mobility Performance of a Personal Mobility Vehicle for Steps,乭 IEEE Access, Vol.5, No. 1, pp.9748-9756, 2017.

[patent 1] Japanese patent no.5561744. 拞搱廏楴丆壠晉榓庻,乬乮柤徧乯幵丆乮撪梕乯幵椫宆晄惍抧堏摦儘儃僢僩偺媟摦嶌傾儖僑儕僘儉偺埨掕惈岦忋摦嶌偵娭偡傞摿嫋乭丆摿嫋戞5578738崋丆2014擭7寧18擔丏
[patent 2] Japanere patent no.5561744. 拞搱廏楴丆壠晉榓庻丆乬乮柤徧乯幵丆乮撪梕乯幵椫宆晄惍抧堏摦儘儃僢僩偺媟摦嶌傾儖僑儕僘儉偵娭偡傞摿嫋乭丆摿嫋戞5561744崋丆2014擭6寧20擔.
[patent 3] Japanese patent no.5105528. 拞搱廏楴丆乬乮柤徧乯幵丆乮撪梕乯幵椫宆晄惍抧堏摦儘儃僢僩偺摿挜揑側婡峔傪妶偐偟偨堏摦曽朄偵娭偡傞摿嫋乭丆摿嫋戞5105528崋丆2012擭10寧12擔.

[press 1] REUTERS WEB NEWS, Oct.23, 2012. (儘僀僞乕捠怣儂乕儉儁乕僕丆摦夋僯儏乕僗丆2012擭10寧23擔宖嵹)
(http://jp.reuters.com/video/2012/10/23/japanese-scientist-gets-leg-up-on-wheelc?videoId=238623600乯

[press 2] DigInfo TV (WEB NEWS)丆Oct.15, 2012.
乬Robotic wheelchair from Chiba Tech turns wheels into legs and climbs over steps乭,
(https://www.youtube.com/watch?v=t2SHKyq5yCU)