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

摘要

PROBLEM TO BE SOLVED: To grasp a position of a floor reaction working point related to a bipedal walk moving body such as man in a relatively simple manner in real time without using a plurality of types of correlation data.;SOLUTION: During movement of the bipedal walk moving body such as walking on a flat land, a position of the centroid G0 of the bipedal walk moving body, a position of an ankle joint 12 of each leg 2 and a position of a metatarsophalangeal joint 13a of a foot flat part 13 are grasped one by one. A horizontal position of one of the centroid G0, the ankle joint 12 and the metatarsophalangeal joint 13a is estimated as a horizontal position of the floor reaction working point, according to a combination of presence and absence of grounding at a place beneath the metatarsophalangeal joint 13a of the foot flat part 13 and at a place beneath the ankle joint 12, which is detected by grounding sensors 51f, 51r mounted on a bottom surface of the foot flat part 13 respectively. A vertical position of the floor reaction working point is estimated on the basis of the distance in the vertical direction from the ankle joint 12 to a grounded surface.;COPYRIGHT: (C)2005,JPO&NCIPI