Towards the biped walking wheelchair

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

*この研究の対応する著者

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
ページ781-786
ページ数6
DOI
出版ステータスPublished - 2006
イベント1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
継続期間: 2006 2 202006 2 22

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

  • 工学(全般)

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