OTHER
Towards the Biped Walking Wheelchair
Yusuke Sugahara, Kenji Hashimoto, H. Sunazuka, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Hun‐ok Lim, Atsuo Takanishi
- Year
- 2006
- Citations
- 4
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
WheelchairRobotComputer scienceSimulationBiped robotControl (management)Control engineeringEngineeringArtificial intelligence
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