A fall avoidance foot mechanism for a biped locomotor

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

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    This paper describes one method to stop suddenly and safely avoid falling using only hardware and without a computer system. This method consists of attaching a braking function to leg actuators and the development of a fall avoidance mechanism, attached to the robot's foot. Using the human-carrying biped locomotor WL-16RII (Figure 1) developed by Sugahara et al., the effectiveness of the method proposed in this paper was confirmed through an emergency stopping experiment during walking, while carrying a heavy load.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages1219-1224
    Number of pages6
    Volume2006
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL
    Duration: 2006 May 152006 May 19

    Other

    Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
    CityOrlando, FL
    Period06/5/1506/5/19

    Fingerprint

    Braking
    Computer hardware
    Computer systems
    Actuators
    Robots
    Experiments

    Keywords

    • Biped locomotor
    • Biped walking
    • Emergency stop
    • Fail-safe
    • Fall avoidance ability
    • Safety

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Hashimoto, K., Sugahara, Y., Tanaka, C., Kawase, M., Sunazuka, H., Ohta, A., ... Takanishi, A. (2006). A fall avoidance foot mechanism for a biped locomotor. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2006, pp. 1219-1224). [1641875] https://doi.org/10.1109/ROBOT.2006.1641875

    A fall avoidance foot mechanism for a biped locomotor. / Hashimoto, Kenji; Sugahara, Yusuke; Tanaka, Chiaki; Kawase, Masamiki; Sunazuka, Hiroyuki; Ohta, Akihiro; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. p. 1219-1224 1641875.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Hashimoto, K, Sugahara, Y, Tanaka, C, Kawase, M, Sunazuka, H, Ohta, A, Lim, HO & Takanishi, A 2006, A fall avoidance foot mechanism for a biped locomotor. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 1641875, pp. 1219-1224, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1641875
    Hashimoto K, Sugahara Y, Tanaka C, Kawase M, Sunazuka H, Ohta A et al. A fall avoidance foot mechanism for a biped locomotor. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006. 2006. p. 1219-1224. 1641875 https://doi.org/10.1109/ROBOT.2006.1641875
    Hashimoto, Kenji ; Sugahara, Yusuke ; Tanaka, Chiaki ; Kawase, Masamiki ; Sunazuka, Hiroyuki ; Ohta, Akihiro ; Lim, Hun Ok ; Takanishi, Atsuo. / A fall avoidance foot mechanism for a biped locomotor. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. pp. 1219-1224
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