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)

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    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
    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
    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

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    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