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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
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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 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) 
Topics (in English)  
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)  
Keyword(1) Postural control for quiet standing  
Keyword(2) Redundancy  
Keyword(3) Base of support  
Keyword(4) 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  
4th Author's Affiliation 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
Date of Issue 2014-12-06 (NC) 


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