Step up/down motion for a four-wheel-type vehicle

A demand for developing a personal mobility vehicle (PMV) is increasing. Backgrounds of this include aging society, usage of automobiles, climate change and more. We have developed the PMV, called RT-Mover PType WA (P-WA) for daily activities. In this paper, we propose an algorithm for climbing a step up/down for P-WA. Through simulation and experiment, the availability of the algorithm is evaluated.