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 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1219-1224
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

Keywords

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

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