METHOD OF ESTIMATING FLOOR REACTIONS OF BIPEDAL WALKING BODY, AND METHOD OF ESTIMATING JOINT MOMENTS OF BIPEDAL WALKING BODY

摘要

Whether the motion of leg bodies (2) is in a single leg support state or two-leg support state is decided and when it is in a single leg support state, afloor reaction (F) acting on the leg body (2) contacting the ground isestimated on the basis of the equation of motion for the center of gravity(GO) of a bipedal walking body (1). When it is in a two-leg support state,floor reactions(Fr, Ff) acting on the respective leg bodies (2) are estimatedon the basis of the equation of motion for the center of gravity (GO) of thebipedal walking body (1) and the relation between the components of floorreactions (Fr, Ff) of each leg body (2) and the position of the ankle (12) ofeach leg body (2) with respect to the center of gravity (GO) of the bipedalwalking body (1). Further, on the basis of an inverse dynamics model using theestimates of the floor reactions (Fr, Ff), the moments acting on the kneejoint (10) and hip joint (8) are estimated. Thereby, the floor reactionsacting on the leg bodies of a bipedal walking body, such as a human being, andthe moments acting on the joints of the leg bodies are grasped accurately inreal time by a relatively simple method.