| 摘要 |
<p>A method and processor (16) for obtaining torques to be applied to joints (8,10,12) of a leg (2) of a biped walking system (1) are provided. The method comprises the steps of obtaining moments (M<Sub>1</Sub>,M<Sub>2</Sub>) acting around the joints (8,10,12) of the leg (2), using the vertical component (F<Sub>z</Sub>) of the ground reaction force (F) acting on the leg (2) at the point of application of the ground reaction force (F), the vertical components (F<Sub>1z</Sub>,F<Sub>2z</Sub>,F<Sub>3z</Sub>) of forces acting on the joints (8,10,12) of the leg (2) and a term of the acceleration of gravity and without using the horizontal components (F<Sub>1x</Sub>,F<Sub>2x</Sub>,F<Sub>3x</Sub>) of the forces acting on the joints (8,10,12) of the leg (2) and a term of acceleration except the term of the acceleration of gravity and obtaining the torques to be applied to the joints of the leg, based on the moments acting around the joints (8,10,12) of the leg (2).</p><p><Paragraphs id="pa02" num="0002" xmlns:base="http://www.sipo.gov.cn/XMLSchema/base">The vertical component (Fz) of the ground reaction force (F) acting on the leg, is obtained based on which leg or legs (2) are in contact with the ground, the attitude of the leg (2) and the vertical component of acceleration of the center of gravity of the whole body including the leg (2). The processor is configured to perform the above steps.
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