Wl-16rii: Prototype of biped walking wheelchair

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

doi:10.1007/3-211-38927-X_40

Wl-16rii: Prototype of biped walking wheelchair

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

研究成果: Chapter

1 引用（Scopus）

抜粋

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
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	https://doi.org/10.1007/3-211-38927-X_40
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
巻	487
ISSN（印刷物）	0254-1971
ISSN（電子版）	2309-3706

ASJC Scopus subject areas

Mechanical Engineering
Mechanics of Materials
Computer Science Applications
Modelling and Simulation

文献にアクセス

10.1007/3-211-38927-X_40

フィンガープリント Wl-16rii: Prototype of biped walking wheelchair' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

これを引用

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. ： CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 313-320). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻数 487). Springer International Publishing. https://doi.org/10.1007/3-211-38927-X_40

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

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

Sugahara, Yusuke ; Hashimoto, Kenji ; Sunazuka, Hiroyuki ; Kawase, Masamiki ; Ohta, Akihiro ; Tanaka, Chiaki ; Lim, Hun Ok ; Takanishi, Atsuo. / Wl-16rii : Prototype of biped walking wheelchair. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2006. pp. 313-320 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

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