Method of estimating floor reaction of bipedal movable body

Details Method of estimating floor reaction of bipedal movable body Method of estimating floor reaction of bipedal movable body

2006-03-28

2006-03-28

Noori, Max (Department: 2855)

Measuring and testing

Center of gravity; turning moment; metacentric height

Dynamic

Reexamination Certificate

active

07017395

ABSTRACT:
It is determined whether the motion state of legs2, 2is a one-leg supporting state or a two-leg supporting state, and a total floor reaction force is estimated based on a motion equation of the center of gravity of a bipedal movable body1. If the motion state of legs2, 2is the one-leg supporting state, the estimated value of the total floor reaction force is used as an estimated value of the floor reaction force on the leg2which is landed. When the motion state changes to the two-leg supporting state, a vertical component of the floor reaction force on the rear leg is estimated from the MP height of the front leg based on a predetermined correlation between the MP height of the front leg and the vertical component of the floor reaction force on the leg.

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WO 03/002309 A1, Method of Estimating Floor Reactions of Bipedal Walking Body, and Method of Estimating Joint Moments of Bipedal Walking Body, Publication Date: Jan. 9, 2003.

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