{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T09:05:23Z","timestamp":1769159123236,"version":"3.49.0"},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2009,3,1]],"date-time":"2009-03-01T00:00:00Z","timestamp":1235865600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Large disturbances can cause a biped to fall. If an upcoming fall can be detected, damage can be minimized or the fall can be prevented. We introduce the multi-way principal component analysis (MPCA) method for the detection of upcoming falls. We study the detection capability of the MPCA method in a simulation study with the simplest walking model. The results of this study show that the MPCA method is able to predict a fall up to four steps in advance in the case of single disturbances. In the case of random disturbances the MPCA method has a successful detection probability of up to 90%.<\/jats:p>","DOI":"10.1017\/s0263574708004645","type":"journal-article","created":{"date-parts":[[2008,5,8]],"date-time":"2008-05-08T10:35:43Z","timestamp":1210242943000},"page":"249-257","source":"Crossref","is-referenced-by-count":26,"title":["Fall detection in walking robots by multi-way principal component analysis"],"prefix":"10.1017","volume":"27","author":[{"given":"J. G. Dani\u00ebl","family":"Karssen","sequence":"first","affiliation":[]},{"given":"Martijn","family":"Wisse","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,1]]},"reference":[{"key":"S0263574708004645_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"S0263574708004645_ref1","volume-title":"Humanoid Robots, Human-like Machines","author":"Hobbelen","year":"2007"},{"key":"S0263574708004645_ref10","doi-asserted-by":"crossref","unstructured":"10. Yamaguchi J. , Soga E. , Inoue S. and Takanishi A. . \u201cDevelopment of a bipedal humanoid robot-control method of wholebody cooperative dynamic biped walking,\u201d Proceedings of 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, pp. 368\u2013374 (1999).","DOI":"10.1109\/ROBOT.1999.770006"},{"key":"S0263574708004645_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.jprocont.2005.02.001"},{"key":"S0263574708004645_ref11","doi-asserted-by":"publisher","DOI":"10.1002\/aic.690400809"},{"key":"S0263574708004645_ref17","doi-asserted-by":"publisher","DOI":"10.1002\/9780470316771"},{"key":"S0263574708004645_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.904908"},{"key":"S0263574708004645_ref6","doi-asserted-by":"crossref","unstructured":"6. Hobbelen D. G. E. and Wisse M. , \u201cAnkle actuation for limit cycle walkers,\u201d Int. J. Rob. Res. 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