抄録
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.
元の言語 | English |
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ホスト出版物のタイトル | CISM International Centre for Mechanical Sciences, Courses and Lectures |
出版者 | Springer International Publishing |
ページ | 313-320 |
ページ数 | 8 |
DOI | |
出版物ステータス | Published - 2006 1 1 |
出版物シリーズ
名前 | CISM International Centre for Mechanical Sciences, Courses and Lectures |
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巻 | 487 |
ISSN(印刷物) | 0254-1971 |
ISSN(電子版) | 2309-3706 |
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ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Computer Science Applications
- Modelling and Simulation
これを引用
Wl-16rii : Prototype of biped walking wheelchair. / Sugahara, Yusuke; Hashimoto, Kenji; Sunazuka, Hiroyuki; Kawase, Masamiki; Ohta, Akihiro; Tanaka, Chiaki; Lim, Hun Ok; Takanishi, Atsuo.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2006. p. 313-320 (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻 487).研究成果: Chapter
}
TY - CHAP
T1 - Wl-16rii
T2 - Prototype of biped walking wheelchair
AU - Sugahara, Yusuke
AU - Hashimoto, Kenji
AU - Sunazuka, Hiroyuki
AU - Kawase, Masamiki
AU - Ohta, Akihiro
AU - Tanaka, Chiaki
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2006/1/1
Y1 - 2006/1/1
N2 - 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.
AB - 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.
KW - Biped Locomotor
KW - Biped Robot
KW - Biped Walking
KW - Linear Actuator
KW - Stewart Platform
UR - http://www.scopus.com/inward/record.url?scp=85027467374&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85027467374&partnerID=8YFLogxK
U2 - 10.1007/3-211-38927-X_40
DO - 10.1007/3-211-38927-X_40
M3 - Chapter
AN - SCOPUS:85027467374
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 313
EP - 320
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -