Wl-16rii: Prototype of 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 proceedingChapter

    1 Citation (Scopus)

    Abstract

    This paper describes the development of the prototype of the biped walking wheelchair. This robot WL-16RII consists of two Stewart Platform type legs and waist with passenger seat. The walking control method based on ZMP criteria and virtual compliance control for this robot were also developed. Through various experiments, the effectiveness of developed hardware and control method was confirmed.

    Original languageEnglish
    Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
    PublisherSpringer International Publishing
    Pages313-320
    Number of pages8
    DOIs
    Publication statusPublished - 2006 Jan 1

    Publication series

    NameCISM International Centre for Mechanical Sciences, Courses and Lectures
    Volume487
    ISSN (Print)0254-1971
    ISSN (Electronic)2309-3706

    Keywords

    • Biped Locomotor
    • Biped Robot
    • Biped Walking
    • Linear Actuator
    • Stewart Platform

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Mechanics of Materials
    • Computer Science Applications
    • Modelling and Simulation

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  • Cite this

    Sugahara, Y., Hashimoto, K., Sunazuka, H., Kawase, M., Ohta, A., Tanaka, C., Lim, H. O., & Takanishi, A. (2006). Wl-16rii: Prototype of biped walking wheelchair. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 313-320). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 487). Springer International Publishing. https://doi.org/10.1007/3-211-38927-X_40