METHOD OF ASSUMING ACTING POINT OF FLOOR REACTION FORCE TO BIPED WALKING MOBILE BODY AND METHOD OF ASSUMING JOINT MOMENT OF BIPED WALKING MOBILE BODY

Title:

METHOD OF ASSUMING ACTING POINT OF FLOOR REACTION FORCE TO BIPED WALKING MOBILE BODY AND METHOD OF ASSUMING JOINT MOMENT OF BIPED WALKING MOBILE BODY

Document Type and Number:

WIPO Patent Application WO/2004/091865

Kind Code:

A1

Abstract:

During the movement, such as walking on a flat ground, of a biped walking mobile body, the position of the gravity center (G0) of the mobile body, the position of an ankle joint (12) of each leg body (2), and the position of a metatarsophalangeal joint (13a) of a foot portion (13) are grasped one after another. Then, in accordance with relative positional relationship between the positions grasped, the position in the horizontal direction of an acting point of reaction force to the leg body (2) is assumed. The assumption is made in accordance with the position of the gravity center (G0) with respect to a moving direction of the mobile body. That is, when the gravity center (G0) is behind the ankle joint (12), the position of a floor reaction force acting point in the horizontal direction is assumed to be at the ankle joint (12), when the gravity center (G0) is between the ankle joint (12) and the metatarsophalangeal joint (13a), it is assumed to be at the gravity center (G0), and when the gravity center (G0) is forward of the metatarsophalangeal joint (13a), at the metatarsophalangeal joint (13a). The position in the vertical direction of the floor reaction force acting point is assumed based on the vertical distance from the ankle joint (12) to a landing surface.

Inventors:

KAWAI MASAKAZU (JP)

Application Number:

PCT/JP2004/004457

Publication Date:

October 28, 2004

Filing Date:

March 29, 2004

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
KAWAI MASAKAZU (JP)

International Classes:

B62D57/032; B25J5/00; (IPC1-7): B25J5/00

Foreign References:

JP2003089083A	2003-03-25
JP2004114288A	2004-04-15
EP1291136A1	2003-03-12

Other References: