Joint moment estimation method of the floor of a biped walking mobile body reaction force estimation method and a biped walking mobile body

摘要

PROBLEM TO BE SOLVED: To grasp the floor reaction force acting on any leg of a bipedal walk moving body such as a human being or the moment acting on a joint of the leg using a relatively simple method on the real-time basis accurately.;SOLUTION: Judgement is made whether the condition of leg motions is in the single leg supported condition or the double leg supported condition, and the total floor reaction force F is presumed on the basis of the equation of motion of the center of gravity G0 of this bipedal walk moving body 1. In case of single leg supported condition, the presumptive value of the total floor reaction force F is used directly as the presumptive value of the floor reaction force of that leg 2 which is grounded, and in case of double leg supported condition, the floor reaction force Fr of the rear located leg 2 is determined using the measuring data about the elapsed time of that condition and the moving speed of the moving body 1 and the characteristic data predetermined, and the floor reaction force Ff of the front located leg 2 is determined by subtracting the obtained floor reaction force Fr from the total floor reaction force F.;COPYRIGHT: (C)2003,JPO