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

doi:10.1109/ROBOT.2006.1641875

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	1219-1224
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1641875
Publication status	Published - 2006 Dec 27
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 2006 May 15 → 2006 May 19

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	06/5/15 → 06/5/19

Keywords

Biped locomotor
Biped walking
Emergency stop
Fail-safe
Fall avoidance ability
Safety

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2006.1641875

Cite this

Hashimoto, K., Sugahara, Y., Tanaka, C., Kawase, M., Sunazuka, H., Ohta, A., Lim, H. O., & Takanishi, A. (2006). A fall avoidance foot mechanism for a biped locomotor. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1219-1224). Article 1641875 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641875

A fall avoidance foot mechanism for a biped locomotor. / Hashimoto, Kenji; Sugahara, Yusuke; Tanaka, Chiaki et al.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1219-1224 1641875 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hashimoto, K, Sugahara, Y, Tanaka, C, Kawase, M, Sunazuka, H, Ohta, A, Lim, HO & Takanishi, A 2006, A fall avoidance foot mechanism for a biped locomotor. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641875, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1219-1224, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1641875

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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",

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AU - Ohta, Akihiro

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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A fall avoidance foot mechanism for a biped locomotor

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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