METHOD OF ESTIMATING JOINT MOMENT OF TWO-LEGGED WALKING MOBILE BODY

摘要

A displacement amount of a joint corresponding to each joint element (such as J9) of a rigid body link model (S1) representing a two-legged walking mobile body (1) is sequentially grasped. Also at the same time, values, in a body coordination system (BC), of an acceleration vector of the original point of the body coordination system (BC) fixed to a waist portion (6) as a rigid body element, a floor reaction force vector acting on each leg body (2), and a position vector of the point of application of the floor reaction force vector are sequentially grasped. With the use of the grasped values, joint moment occurring in an ankle joint (13), a knee joint (14), and a hip joint (9) of each leg body (2) is sequentially estimated based on an inverse dynamic model using a body coordination system. Calculation operation using inclination information of a two-legged walking mobile body relative to the gravity direction is reduced as much as possible, so that estimation precision of joint moment of a leg body can be enhanced.