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 decided and when it is in a single leg support state,a floor reaction(F)acting on the leg body(2)contacting the ground is estimated on the basis of the equation of motion for the center of gravity(GO)of a bipedal walking body(1).When it is in a two−leg support state,floor reactions(Fr,Ff)acting on the respective leg bodies(2)are estimated on the basis of the equation of motion for the center of gravity(GO)of the bipedal walking body(1)and the relation between the components of floor reactions(Fr,Ff)of each leg body(2)and the position of the ankle(12)of each leg body(2)with respect to the center of gravity(GO)of the bipedal walking body(1).Further,on the basis of an inverse dynamics model using the estimates of the floor reactions(Fr,Ff),the moments acting on the knee joint(10)and hip joint(8)are estimated.Thereby,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 are grasped accurately in real time by a relatively simple method.