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

WIPO Patent Application WO/2004/091866

A1

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 obtained one after another. Contact to the ground of a portion directly under the metatarsophalangeal joint (13a) and that of a portion directly under the ankle joint (12) are detected by ground contact sensors (51f, 51r) provided at the bottom surface of the foot portion (13). Then, depending on the combination of whether the portion directly under the metatarsophalangeal joint (13a) is in contact with the ground and whether the portion directly under the ankle joint (12) is in contact with the ground, the position in the horizontal direction of any of the gravity center (G0), the ankle joint (12), and the metatarsophalangeal joint (13a) is assumed as the position in the horizontal direction of a floor reaction force acting point. 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 the ground surface.

KAWAI MASAKAZU (JP)

PCT/JP2004/004459

October 28, 2004

March 29, 2004

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

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

JP2003089083A	2003-03-25
JP2003048178A	2003-02-18
JPH05305579A	1993-11-19
EP1291136A1	2003-03-12

See also references of EP 1627711A4

Sato, Tatsuhiko (1-1 Yoyogi 2-chom, Shibuya-ku Tokyo 53, JP)

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