Towards the Biped Walking Wheelchair
- 10 July 2006
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.
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 confirmedKeywords
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