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Paper Abstract and Keywords
Presentation 2011-03-08 14:25
Prevention of backward falling while walking on a step by a walking-assist robot
Yuki Oda, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) MBE2010-123
Abstract (in Japanese) (See Japanese page) 
(in English) The goal of our study is to develop control systems for prevention of backward falling while walking on a step by a wearable walking-assist robot WPAL for paraplegics. It is likely to fall backward when the landing position after stepping on a bump is on the edge of the bump. To prevent a backward falling that is attributed to the landing position, we propose a method of detecting foot placement state on a bump from the center of pressure (COP) of the swing leg at foot landing. Moreover, the stability of the backward balance is evaluated from the center of mass position and its velocity at a toe-off period. Thus the risk of a backward falling is decreased by trajectory generation with a constrained condition concerning the center of mass at a toe-off period. We confirmed the effectiveness of the proposed method through implementing our method into the robot and conducting walking experiments for two kinds of steps with different height.
Keyword (in Japanese) (See Japanese page) 
(in English) Walking-assist robot / Walking on a step / Prevention of backward falling / Trajectory generation / Ground reaction force / / /  
Reference Info. IEICE Tech. Rep., vol. 110, no. 460, MBE2010-123, pp. 113-118, March 2011.
Paper # MBE2010-123 
Date of Issue 2011-02-28 (MBE) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF MBE2010-123

Conference Information
Committee NC MBE  
Conference Date 2011-03-07 - 2011-03-09 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2011-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Prevention of backward falling while walking on a step by a walking-assist robot 
Sub Title (in English)  
Keyword(1) Walking-assist robot  
Keyword(2) Walking on a step  
Keyword(3) Prevention of backward falling  
Keyword(4) Trajectory generation  
Keyword(5) Ground reaction force  
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1st Author's Name Yuki Oda  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Takahiro Kagawa  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Yoji Uno  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2011-03-08 14:25:00 
Presentation Time 25 minutes 
Registration for MBE 
Paper # MBE2010-123 
Volume (vol) vol.110 
Number (no) no.460 
Page pp.113-118 
#Pages
Date of Issue 2011-02-28 (MBE) 


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