| 摘要 |
PROBLEM TO BE SOLVED: To provide a floor reaction force estimation method capable of finding an estimated value of floor reaction force to smoothly and continuously change. SOLUTION: A direction of a component vector on a surface vertical with a prescribed axis (Y axis) of the floor reaction force working on each of leg bodies 2 is decided so that a direction of a moment generated around a center of gravity of a biped locomotion movable body by the total sum of the component vector on the surface vertical with the prescribed axis (Y axis) of the floor reaction force working on each of the grounding leg bodies by finding a total angular momentum rate of change which is a time rate of change of a total angular momentum of the biped locomotion movable body 1 and the total floor reaction force working on the biped locomotion movable body 1 by using output of a joint displacement sensor, output of an acceleration sensor, output of an angular velocity sensor, a rigid body link model, etc. The estimated value of the component vector on the surface vertical with the prescribed axis (Y axis) of the floor reaction force for each of the leg bodies is found in accordance with the decided direction and the found total floor reaction force. COPYRIGHT: (C)2006,JPO&NCIPI
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