Data processing: measuring – calibrating – or testing – Measurement system – Pressure
Reexamination Certificate
2005-07-05
2005-07-05
Barlow, John (Department: 2863)
Data processing: measuring, calibrating, or testing
Measurement system
Pressure
C702S127000
Reexamination Certificate
active
06915230
ABSTRACT:
A method is presented for determination of single stance or double stance state of leg bodies of a bipedal mobile body (BMB). In a single stance state, a floor reaction force acting on a leg body touching the ground is estimated based on an equation of motion for the center of gravity (GO) of a BMB. In a double stance state, floor reaction forces, Fr and Ff respectively, acting on the leg bodies are estimated based on an equation of motion for GO of a BMB and an expression of relation between components of Fr and Ff on the respective leg bodies and positions of ankle portions of the leg bodies relative to the GO of the BMB. Further, based on an inverse dynamics model, knee and hip joint moments of each leg body are estimated using floor reaction force values.
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Ikeuchi Yasushi
Katoh Hisashi
Kawai Masakazu
Barlow John
Honda Giken Kogyo Kabushiki Kaisha
Rankin, Hill Porter & Clark LLP
Washburn Douglas N
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