| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To estimate the mass parameter of each link of a body modeled by a rigid link mechanism while reflecting a difference in an individual physique without measuring all parts of the body. <P>SOLUTION: This estimation method of a mass parameter of a link is provided with a step for selecting an explanatory variable among variables representing the dimensions of each part of the body and estimating the value of an objective variable with the other variables as the objective variable on the basis of an actual measurement value of the explanatory variable, and a step for calculating the volume of each link of the body modeled by the rigid link mechanism by using at least a portion of the explanatory variable and the objective variable, calculating specific gravity from the total volume and weight of the body and calculating the mass and moment of inertia of each link from the calculated specific gravity. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
