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Romansy 16 pp 313-320 | Cite as

WL-16RII: Prototype of Biped Walking Wheelchair

  • Yusuke Sugahara
  • Kenji Hashimoto
  • Hiroyuki Sunazuka
  • Masamiki Kawase
  • Akihiro Ohta
  • Chiaki Tanaka
  • Hun-ok Lim
  • Atsuo Takanishi
Part of the CISM Courses and Lectures book series (CISM, volume 487)

Abstract

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.

Keywords

Biped Robot Linear Actuator Stewart Platform Biped Walking Biped Locomotor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Yusuke Sugahara
    • 1
  • Kenji Hashimoto
    • 2
  • Hiroyuki Sunazuka
    • 2
  • Masamiki Kawase
    • 2
  • Akihiro Ohta
    • 2
  • Chiaki Tanaka
    • 2
  • Hun-ok Lim
    • 3
    • 5
  • Atsuo Takanishi
    • 2
    • 4
    • 5
  1. 1.Graduate School of Science and EngineeringWaseda UniversityTokyoJapan
  2. 2.Graduate School of Science and EngineeringWaseda UniversityTokyoJapan
  3. 3.Department of Mechanical EngineeringKanagawa UniversityKanagawaJapan
  4. 4.School of Science and EngineeringWaseda UniversityTokyoJapan
  5. 5.Humanoid Robotics InstituteWaseda UniversityTokyoJapan

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