抄録
There is a risk of being hurt falling. Prevention of a fall is required. To fall down from off balance.You are climbing the stairs.When balance is expressed, the center of gravity is used. The method of evaluating the position of the center of gravity easily is required. We make the algorithm for evaluation of the center of gravity of the joint angle .The center of gravity was presumed using the algorithm. The number of joint angles was reduced and the algorithm was made. Similarly, the center of gravity was presumed using the built new-algorithm. The center of gravity has been presumed within the limits of the Base of support. When there was a restraint, the center of gravity was not able to be presumed within the limits of the Base of support.
