@inbook{dfb59d7be8984c20b03afdaf2e4e68c9,
title = "Wl-16rii: Prototype of biped walking wheelchair",
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.",
keywords = "Biped Locomotor, Biped Robot, Biped Walking, Linear Actuator, Stewart Platform",
author = "Yusuke Sugahara and Kenji Hashimoto and Hiroyuki Sunazuka and Masamiki Kawase and Akihiro Ohta and Chiaki Tanaka and Lim, {Hun Ok} and Atsuo Takanishi",
note = "Funding Information: This study was conducted as part of the humanoid project at the Humanoid Robotics Institute, Waseda University, and was done in collaboration with TMSUK Co., Ltd supported by Fukuoka City, SANYO Electric Soft Energy Co., Ltd. and Solid Works Japan K.K. This study was supported in part by the Ministry of Education, Science, Sports and Culture, Grant-in-Aid for Young Scientists (B), 16760208, 2004. It was also supported in part by the Robotics Industry Development Council. This study was supported in part by the 21st Century Center of Excellence Program, Japan Society for the Promotion of Science. The authors would like to express sincere thanks to them for their financial and technical support. The authors would like to thank the city employees and residents of Fukuoka City for their help in conducting experiments.",
year = "2006",
doi = "10.1007/3-211-38927-X_40",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "313--320",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}