发明名称 |
METHOD OF ESTIMATING FLOOR REACTIONS OF BIPEDAL WALKING BODY; AND METHOD OF ESTIMATING JOINT MOMENTS OF BIPEDAL WALKING BODY |
摘要 |
<p>A method is presented for determination of single stance or double stance state of leg bodies of a bipedal mobile body (BMB). In a single stance state, a floor reaction force acting on a leg body touching the ground is estimated based on an equation of motion for the center of gravity (GO) of a BMB. In a double stance state, floor reaction forces, Fr and Ff respectively, acting on the leg bodies are estimated based on an equation of motion for GO of a BMB and an expression of relation between components of Fr and Ff on the respective leg bodies and positions of ankle portions of the leg bodies relative to the GO of the BMB. Further, based on an inverse dynamics model, knee and hip joint moments of each leg body are estimated using floor reaction force values.</p> |
申请公布号 |
EP1415770(B1) |
申请公布日期 |
2010.08.11 |
申请号 |
EP20020736183 |
申请日期 |
2002.06.27 |
申请人 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
发明人 |
KAWAI, MASAKAZU;IKEUCHI, YASUSHI;KATO, HISASHI |
分类号 |
A61H3/00;G01L1/00;A61B5/024;A61B5/103;A61F2/60;A61F2/72;B25J5/00;B25J9/00;B62D57/032 |
主分类号 |
A61H3/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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