corobos: テーブルと壁面間を協調遷移する移動ロボットの設計
corobos: A Design for Mobile Robots Enabling Cooperative Transitions between Table and Wall Surfaces
複数の移動ロボットが互いに押し合うことで、テーブル（水平面）と壁（垂直面）の間を人間の介入なしに協調して移動できる受動的な機構を設計し、遷移成功率を実験で評価した。
著者: Changyo Han, Yosuke Nakagawa, Takeshi Naemura
分類: cs.RO, cs.HC
原文アブストラクト
Swarm User Interfaces allow dynamic arrangement of user environments through the use of multiple mobile robots, but their operational range is typically confined to a single plane due to constraints imposed by their two-wheel propulsion systems. We present corobos, a proof-of-concept design that enables these robots to cooperatively transition between table (horizontal) and wall (vertical) surfaces seamlessly, without human intervention. Each robot is equipped with a uniquely designed slope structure that facilitates smooth rotation when another robot pushes it toward a target surface. Notably, this design relies solely on passive mechanical elements, eliminating the need for additional active electrical components. We investigated the design parameters of this structure and evaluated its transition success rate through experiments. Furthermore, we demonstrate various application examples to showcase the potential of corobos in enhancing user environments.