To provide a method for determining torque to be imparted to a joint of a leg body of a bipedal walking body and an arithmetic processing unit.
This method includes a step for determining moment acting on the joint part of the leg body by using a vertical direction component of a floor reaction force acting on the leg body at an acting point of the floor reaction force the vertical direction component of force acting on the joint part of the leg body and a gravitational acceleration term without using a horizontal direction component of force acting on the joint part of the leg body and an acceleration term except the gravitational acceleration term and a step for determining torque in the joint of the leg body based on the moment acting on the joint part of the leg body. The vertical direction component of the floor reaction force acting on the leg body is determined based on a grounding state of the leg body, an attitude of the leg body and the vertical direction component of gravitational acceleration of the whole body including the leg body. The arithmetic processing unit is constituted to execute the above steps.
IKEUCHI YASUSHI
DARIUSH BEHZAD
Naoya Fushimi
Yukari Hirano