DocumentCode
2038951
Title
Towards the Biped Walking Wheelchair
Author
Sugahara, Yusuke ; Hashimoto, Kenji ; Sunazuka, Hiroyuki ; Kawase, Masamiki ; Ohta, Akihiro ; Tanaka, Chiaki ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo
fYear
2006
fDate
20-22 Feb. 2006
Firstpage
781
Lastpage
786
Abstract
This paper describes the development of a prototype biped walking wheelchair. This robot consists of two Stewart platform type legs and waist with a passenger seat. The walking control method based on ZMP criteria and virtual compliance control method for this robot were also developed. Through various experiments, the effectiveness of the developed hardware and the control method was confirmed
Keywords
compliance control; legged locomotion; Stewart platform type legs; Stewart platform type waist; ZMP criteria; biped walking wheelchair; passenger seat; virtual compliance control method; walking control method; Design engineering; Hardware; Humanoid robots; Humans; Leg; Legged locomotion; Mobile robots; Prototypes; Wheelchairs; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location
Pisa
Print_ISBN
1-4244-0040-6
Type
conf
DOI
10.1109/BIOROB.2006.1639185
Filename
1639185
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