@inproceedings{76022447c63747f9bf7bf4f59bb85641,
title = "A fall avoidance foot mechanism for a biped locomotor",
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.",
keywords = "Biped locomotor, Biped walking, Emergency stop, Fail-safe, Fall avoidance ability, Safety",
author = "Kenji Hashimoto and Yusuke Sugahara and Chiaki Tanaka and Masamiki Kawase and Hiroyuki Sunazuka and Akihiro Ohta and Lim, {Hun Ok} and Atsuo Takanishi",
year = "2006",
month = dec,
day = "27",
doi = "10.1109/ROBOT.2006.1641875",
language = "English",
isbn = "0780395069",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "1219--1224",
booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",
note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",
}