Research on the generation mechanism of the behavior intelligence for a quadruped robot assisting the disabilities

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Intending to realize a quadruped robot assisting the disabilities, we carried out the basic study on the development of a helper robot, which can follow a disable person. In order to increase the ability of walking on irregular terrain in outdoor environment as a helper robot, we developed the self-contained quadruped robot "Tekken2". We implemented "side-way stepping reflex" and "re-stepping reflex" in addition to the already implemented biologically inspired control methods and increased the adaptation ability to irregular terrain. As a result, we succeeded in the outdoor experiments using Tekken2. We also implemented the methods to measure the movable region using vision in outdoor environment.On the other hand, as the function to interact with human, we mounted a stereo camera on Tekken2 and other stereo camera on the ceiling, and constructed the system, which made Tekken2 interact with human using those cameras. We demonstrated several interactive behavior of Tekken2, such as sitting in front of human while detecting human hand sign, and so on. As a result, we confirmed the effectiveness of the constructed system.Finally, we integrated all those system on the newly developed quadruped robot "Tekken3" and realized a self-contained helper dog robot, which has the sufficient functions as a prototype.