| 摘要 |
While a biped walking mobile body is in a motion, including level-ground walking, the position of the center of gravity (G 0 ) of the biped walking mobile body, the position of an ankle joint ( 12 ) of each leg ( 2 ), and the position of a metatarsophalangeal joint ( 13 a) of a foot ( 13 ) are successively grasped, and the horizontal position of a floor reaction force acting point of the leg ( 2 ) in contact with the ground is estimated on the basis of the relative positional relationship among the aforesaid positions. Depending on whether the center of gravity (G 0 ) is behind the ankle joint ( 12 ), between the ankle joint ( 12 ) and the metatarsophalangeal joint ( 13 a), or before the metatarsophalangeal joint ( 13 a) with respect to the advancing direction of the biped walking mobile body, the horizontal position of the ankle joint ( 12 ), the center of gravity (G 0 ), or the metatarsophalangeal joint ( 13 a) is defined as the horizontal position of a floor reaction force acting point. The vertical position of the floor reaction force acting point is estimated on the basis of the vertical distance from the ankle joint ( 12 ) to a ground contact surface.
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