Wl-16rii: Prototype of biped walking wheelchair

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

Research output: Chapter in Book/Report/Conference proceedingChapter

2 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Number of pages8
Publication statusPublished - 2006

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706


  • Biped Locomotor
  • Biped Robot
  • Biped Walking
  • Linear Actuator
  • Stewart Platform

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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