METHOD OF ESTIMATING FLOOR REACTION OF BIPEDAL MOVABLE BODY

摘要

A method of estimating the floor reaction of a bipedal movable body, comprising the steps of sequentially judging whether the motion state of leg bodies (2, 2) is in a single leg support state or a double leg support state, estimating a total floor reaction based on the equation of motion for the bipedal movable body (1) with respect to the gravity center thereof, when the motion state is in the single leg support state, taking the estimated value of the total floor reaction as the estimated value of the floor reaction of the leg body (2) coming into contact with the ground, measuring the position (MP height) of the metatarsophalangeala articulation of a leg flat part (13) from a floor surface, when the motion state is moved into the double leg support state, estimating the vertical component of the floor reaction of the rear leg body from the MP height of the front leg body based on a specified correlation between the MP height of the front leg body and the vertical component of the floor reaction of the rear leg body, and estimating the vertical component of the floor reaction of the front leg body by deducting the vertical component of the floor reaction of the rear leg body from the vertical component of the total floor reaction.