Towards the biped walking wheelchair

Yusuke Sugahara; Kenji Hashimoto; Hiroyuki Sunazuka; Masamiki Kawase; Akihiro Ohta; Chiaki Tanaka; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/BIOROB.2006.1639185

Towards the biped walking wheelchair

Yusuke Sugahara^*, Kenji Hashimoto, Hiroyuki Sunazuka, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages	781-786
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2006.1639185
Publication status	Published - 2006
Event	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: 2006 Feb 20 → 2006 Feb 22

Publication series

Name	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume	2006

Conference

Conference	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country/Territory	Italy
City	Pisa
Period	06/2/20 → 06/2/22

Keywords

Biped locomotor
Biped robot
Biped walking
Carrying human
Wheelchair

ASJC Scopus subject areas

Engineering(all)

Access to Document

10.1109/BIOROB.2006.1639185

Cite this

Sugahara, Y., Hashimoto, K., Sunazuka, H., Kawase, M., Ohta, A., Tanaka, C., Lim, H. O., & Takanishi, A. (2006). Towards the biped walking wheelchair. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp. 781-786). Article 1639185 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006). https://doi.org/10.1109/BIOROB.2006.1639185

Towards the biped walking wheelchair. / Sugahara, Yusuke; Hashimoto, Kenji; Sunazuka, Hiroyuki et al.
Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 781-786 1639185 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sugahara, Y, Hashimoto, K, Sunazuka, H, Kawase, M, Ohta, A, Tanaka, C, Lim, HO & Takanishi, A 2006, Towards the biped walking wheelchair. in Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006., 1639185, Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, vol. 2006, pp. 781-786, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, Italy, 06/2/20. https://doi.org/10.1109/BIOROB.2006.1639185

Sugahara Y, Hashimoto K, Sunazuka H, Kawase M, Ohta A, Tanaka C et al. Towards the biped walking wheelchair. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 781-786. 1639185. (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006). doi: 10.1109/BIOROB.2006.1639185

Sugahara, Yusuke ; Hashimoto, Kenji ; Sunazuka, Hiroyuki et al. / Towards the biped walking wheelchair. Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. pp. 781-786 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006).

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title = "Towards the biped walking wheelchair",

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 = "Biped locomotor, Biped robot, Biped walking, Carrying human, Wheelchair",

author = "Yusuke Sugahara and Kenji Hashimoto and Hiroyuki Sunazuka and Masamiki Kawase and Akihiro Ohta and Chiaki Tanaka and Lim, {Hun Ok} and Atsuo Takanishi",

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AU - Sugahara, Yusuke

AU - Hashimoto, Kenji

AU - Sunazuka, Hiroyuki

AU - Kawase, Masamiki

AU - Ohta, Akihiro

AU - Tanaka, Chiaki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2006

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AB - 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.

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KW - Biped robot

KW - Biped walking

KW - Carrying human

KW - Wheelchair

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SN - 1424400406

SN - 9781424400409

T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006

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Y2 - 20 February 2006 through 22 February 2006

ER -

Towards the biped walking wheelchair

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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