| 摘要 |
It is judged whether a motion state of leg bodies 2 is a single stance state or a double stance state. When it is the single stance state, a floor reaction force F acting on the leg body 2 touching the ground is estimated based on the equation of motion for the center of gravity G0 of a bipedal walking moving body 1. When it is the double stance state, floor reaction forces Fr, Ff respectively acting on the leg bodies 2 are estimated based on the equation of motion for the center of gravity G0 of the bipedal walking moving body 1, and the expression of relation between components of the floor reaction forces Fr, Ff on the respective leg bodies 2 and positions of ankle portions 12 of the leg bodies 2 relative to the center of gravity G0 of the bipedal walking moving body 1. Further, based on an inverse dynamics model using estimated values of the floor reaction forces Fr, Ff, moments acting on a knee joint 10 and a hip joint 8 of each leg body 2 are estimated. Thereby, floor reaction forces acting on leg bodies of a bipedal walking moving body such as a human being, and moments acting on joints of the leg bodies are accurately grasped in real time by a relatively simple technique.
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