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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
ページ1219-1224
ページ数6
DOI
出版ステータスPublished - 2006 12 27
イベント2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
継続期間: 2006 5 152006 5 19

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2006
ISSN(印刷版)1050-4729

Conference

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

ASJC Scopus subject areas

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

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