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 and 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) |
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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) |
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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) |
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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 |
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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 |
6 |
Date of Issue |
2011-02-28 (MBE) |