WL-16RII: Prototype of Biped Walking Wheelchair
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.
KeywordsBiped Robot Linear Actuator Stewart Platform Biped Walking Biped Locomotor
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