| 摘要 |
The direction of a component vector on a plane perpendicular to a predetermined axis (Y axis) of a floor reaction force acting on each landing leg ( 2 ) is determined in such a way that the direction of a moment generated around a center-of-gravity of a two-legged walking mobile body ( 1 ) by a total sum of the component vectors on the plane perpendicular to the predetermined axis (Y axis) of the floor reaction forces acting on the landing legs ( 2 ) is coincident with the direction of the component around the predetermined axis (Y axis) of a total rate of change of angular momentum by calculating the total rate of change of angular momentum, which is a time rate of change of an angular momentum around an total center-of-gravity of the two-legged walking mobile body ( 1 ), and the total floor reaction force acting on the two-legged walking mobile body ( 1 ) by using an output of a joint displacement sensor, an output of an acceleration sensor, an output of an angular velocity sensor, and a rigid link model or the like. An estimated value of the component vector on the plane perpendicular to the predetermined axis (Y axis) of the floor reaction force on the each leg 2 is found on the basis of the determined direction and the obtained total floor reaction force. This enables finding an estimated value of the floor reaction force showing a smooth and continuous change.
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