| 摘要 |
Whether a motion state of leg bodies 2 is a single stance state or a double stance state is sequentially determined and a total reaction force F is estimated on the basis of an equation of motion for a center of gravity (G0) of a bipedal walking body 1. If the motion state is the single stance state, then the estimated value of the total floor reaction force F is directly used as an estimated value of the floor reaction force of the leg body 2. If the motion state is the double stance state, then a floor reaction force Fr of the leg body 2 at the rear side is determined, using measurement data of elapsed time of the double stance state and moving speed of a bipedal walking body 1 and pre-established characteristic data, and the floor reaction force Fr is subtracted from the total floor reaction force F to determine a floor reaction force Ff of the leg body 2 at the front side. Thus, it is possible to provide a method that allows floor reaction forces acting on leg bodies of a bipedal walking body, such as a human being, and moments acting on joints of the leg bodies to be determined in real time with high accuracy by a relatively simple technique. <IMAGE> |
