| 摘要 |
While a biped walking mobile body is in a motion, such as 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. The horizontal position of any one of the center of gravity (G 0 ), the ankle joint ( 12 ), and the metatarsophalangeal joint ( 13 a) is estimated as the horizontal position of a floor reaction force acting point on the basis of the combination of the contact or no contact with the ground at a spot directly below the metatarsophalangeal joint 13 a of the foot 13 and a spot directly below the ankle joint 12 , which is detected by ground contact sensors 51 f and 51 r, respectively, provided on the sole of the foot 13 . 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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