| Presentation | 2014-12-13 Postural control for quiet standing allowing variability of COM within base of support Hotaka ITO, Shunta TOGO, Takahiro KAGAWA, Yoji UNO, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Postural control for quiet standing / Redundancy / Base of support / Inverted pendulum |
| Paper # | NC2014-48 |
| Date of Issue |
| Conference Information | |
| Committee | NC |
|---|---|
| Conference Date | 2014/12/6(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Neurocomputing (NC) |
|---|---|
| Language | JPN |
| 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 |
| 1st Author's Name | Hotaka ITO |
| 1st Author's Affiliation | Graduate School of Engineering, Nagoya University() |
| 2nd Author's Name | Shunta TOGO |
| 2nd Author's Affiliation | Advanced Telecommunications Research Institute International:JSPS |
| 3rd Author's Name | Takahiro KAGAWA |
| 3rd Author's Affiliation | Graduate School of Engineering, Nagoya University |
| 4th Author's Name | Yoji UNO |
| 4th Author's Affiliation | Graduate School of Engineering, Nagoya University |
| Date | 2014-12-13 |
| Paper # | NC2014-48 |
| Volume (vol) | vol.114 |
| Number (no) | 362 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |