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 被引用数 (Scopus)

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.

本文言語English
ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版社Springer International Publishing
ページ313-320
ページ数8
DOI
出版ステータスPublished - 2006

出版物シリーズ

名前CISM International Centre for Mechanical Sciences, Courses and Lectures
487
ISSN(印刷版)0254-1971
ISSN(電子版)2309-3706

ASJC Scopus subject areas

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

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