Motion control of multi-linked stretcher robot DUCKS

We are developing a kind of stretcher robot named DUCKS(Double Up and down Crawler Kobe Stretcher). This robot attaches a crawler to the upper part and a retainer of the body. By this double-crawler mechanism, this robot can pick up a victim on the body smoothly. Additionally, this robot has a pair of crawlers, and using this two crawlers we can operate easily. But, cause to the existence of this two crowers system, it is very difficult for the operators. Therefore, in this note, we propose a control system for DUCKS. The organize of this paper is as follows. In Chapter 2 we introduce DUCKS. In Chapter 3, we propose a operating system for DUCKS.