Title :
A fall avoidance foot mechanism for a biped locomotor
Author :
Hashimoto, Kenji ; Sugahara, Yusuke ; Tanaka, Chiaki ; Kawase, Masamiki ; Sunazuka, Hiroyuki ; Ohta, Akihiro ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution :
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo
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 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 :
braking; legged locomotion; motion control; WL-16RII; braking function; fall avoidance foot mechanism; human-carrying biped locomotor; leg actuators; Control systems; Foot; Hardware; Humanoid robots; Joining processes; Leg; Legged locomotion; Power engineering and energy; Robotics and automation; Vehicle safety;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641875
