DEVELOPMENT OF THE RIDING ROBOT LIKE AS A HORSE AND MOTION CONTROL FOR THE HEALTHCARE AND ENTERTAINMENT

摘要

This paper describes a riding robot system like as a horse developed for healthcare and entertainment applications. The riding motion of this robot named by RideBot is similar to riding a horse for human. The developed RideBot can to follow the intention of horseman using by the rein and spur mechanism and to simulate the walking and running motion using by the saddle mechanism of 3 DOF. And also this RideBot have the bio-handle mechanism which is to check the horseman's bio-signals include blood pressure, pulse and heartbeat for the healthcare services of users. In order to evaluate the performance of RideBot, we carried out the experiments on the several riding motions as follows: the slow walking, the fast walking, and the turning of direction with horseman.