Paper Abstract and Keywords |
Presentation |
2014-12-13 10:50
Postural control for quiet standing allowing variability of COM within base of support Hotaka Ito (Nagoya Univ.), Shunta Togo (ATR), Takahiro Kagawa, Yoji Uno (Nagoya Univ.) NC2014-48 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
In a postural control for quiet standing, the fluctuation of COM is allowed within the base of support while it is important to keep the COM within the area. This study proposes a posture control method which allows the variability of COM at every control step. Because the degrees of freedom of the posture increase by allowing the variability, a more optimal posture can be selected for a given task. As an example for the posture control task, we conducted a simulation experiment of a three-link inverted pendulum which keeps standing under a perturbation, and compared the proposed method with the method prohibiting the variability of COM. As a result, it was shown that the proposed method generated smaller reactive torque for the perturbation than that of the method prohibiting the variability of COM. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Postural control for quiet standing / Redundancy / Base of support / Inverted pendulum / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 114, no. 362, NC2014-48, pp. 25-30, Dec. 2014. |
Paper # |
NC2014-48 |
Date of Issue |
2014-12-06 (NC) |
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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NC2014-48 |
Conference Information |
Committee |
MBE NC |
Conference Date |
2014-12-13 - 2014-12-13 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Nagoya University |
Topics (in Japanese) |
(See Japanese page) |
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Paper Information |
Registration To |
NC |
Conference Code |
2014-12-MBE-NC |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Postural control for quiet standing allowing variability of COM within base of support |
Sub Title (in English) |
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Keyword(1) |
Postural control for quiet standing |
Keyword(2) |
Redundancy |
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Base of support |
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Inverted pendulum |
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1st Author's Name |
Hotaka Ito |
1st Author's Affiliation |
Nagoya University (Nagoya Univ.) |
2nd Author's Name |
Shunta Togo |
2nd Author's Affiliation |
Advanced Telecommunications Research Institute International (ATR) |
3rd Author's Name |
Takahiro Kagawa |
3rd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
4th Author's Name |
Yoji Uno |
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Nagoya University (Nagoya Univ.) |
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Speaker |
Author-1 |
Date Time |
2014-12-13 10:50:00 |
Presentation Time |
20 minutes |
Registration for |
NC |
Paper # |
NC2014-48 |
Volume (vol) |
vol.114 |
Number (no) |
no.362 |
Page |
pp.25-30 |
#Pages |
6 |
Date of Issue |
2014-12-06 (NC) |
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