This paper proposes a new type of transformable wheel-legged mobile robot that could be
applied on both flat and rugged terrains. It integrates stability and maneuverability of …

The mobile robot market is experiencing rapid growth, playing a pivotal role in various
human-centric environments like restaurants, offices, hotels, hospitals, apartments, and …

Crossing surface discontinuities, such as ditches or curbs in urban environments, is a
relevant navigation issue for ground mobile robots. This paper proposes a maneuver for …

People make use of different languages to express their thoughts in a different way. But, it is
difficult for the people who are affected by paralysis and stroke. Hence, there is a need to …

We have previously developed a five-wheeled wheelchair with an active-caster drive
system. To improve motion performance of the wheelchair, we have proposed the function …

We have developed a pair of step-climbing units that can be installed on a standard manual
wheelchair. Many wheelchair users hope to lead an independent life without assistance …

In this study, a novel step climbing method for a five-wheeled wheelchair, composed of a
manual wheelchair and an active-caster drive system, has been proposed. Because the …

Transleg is a transformable leg-wheel robot conceived to work in the unstructured
environment. The steps exist all over this environment, so it is essential that Transleg has the …

We have developed a pair of step-climbing units that can be installed in a standard manual
wheelchair. We aim to enable manual wheelchair users to establish an independent life that …

In the previous work, we have developed a five-wheeled wheelchair composed by a manual
wheelchair with an active-caster drive system. Since an active-caster generates active …