Title:
二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法
Document Type and Number:
Japanese Patent JP4188607
Kind Code:
B2
Abstract:
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 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 are estimated on the basis of the equation of motion for the center of gravity of the bipedal walking body and the relation between the components of floor reactions of each leg body and the position of the ankle (12) of each leg body with respect to the center of gravity of the bipedal walking body. Further, on the basis of an inverse dynamics model using the estimates of the floor reactions, 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.
Inventors:
Kawai Masakazu
Yasushi Ikeuchi
Hisashi Kato
Yasushi Ikeuchi
Hisashi Kato
Application Number:
JP2002039201A
Publication Date:
November 26, 2008
Filing Date:
February 15, 2002
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; G01L1/00; A61B5/103; A61H3/00; B25J9/00; A61B5/024; A61F2/72
Domestic Patent References:
| JP6031658A | ||||
| JP6031668A | ||||
| JP11300660A | ||||
| JP11300661A | ||||
| JP2000249570A | ||||
| JP10277969A |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba