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
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;
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
DOI :
10.1109/BIOROB.2006.1639185
