METHOD OF ESTIMATING FLOOR REACTIONS OF BIPEDAL WALKING BODY, AND METHOD OF ESTIMATING JOINT MOMENTS OF BIPEDAL WALKING BODY

摘要

Whether the motion of leg bodies (2) is in a single leg support state or two - leg support state is sequentially decided and the total floor reaction (F) i s estimated on the basis of the equation of motion for the center of gravity (G0) of a bipedal walking body (1). When it is in a single leg support state , the estimated value of the total floor reaction (F) is taken as the estimate d value of the floor reaction of the leg body (2) contacting the ground, and when it is in a two-leg support state, the floor reaction (Fr) of the leg bo dy (2) in the back side is found by using measure data about the elapsed time o f the two-leg support state and about the moving speed of the bipedal walking body (1) and predetermined characteristic data, and the floor reaction (Ff) of the leg body (2) in the front side is found by subtracting the floor reactio n (Fr) from the total floor reaction (F). Thereby, it is possible to provide a method of accurately grasping in real time the floor reactions acting on the leg bodies of a bipedal walking body, such as a human being, and the moments acting on the joints of the leg bodies by a relatively simple technique.