Towards the biped walking wheelchair

Yusuke Sugahara, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper describes the development of a prototype biped walking wheelchair. This robot consists of two Stewart Platform type legs and waist with a passenger seat. The walking control method based on ZMP criteria and virtual compliance control method for this robot were also developed. Through various experiments, the effectiveness of the developed hardware and the control method was confirmed.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages781-786
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 22
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: 2006 Feb 202006 Feb 22

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Conference

Conference1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period06/2/2006/2/22

Keywords

  • Biped locomotor
  • Biped robot
  • Biped walking
  • Carrying human
  • Wheelchair

ASJC Scopus subject areas

  • Engineering(all)

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