Method of estimating joint moment of bipedal walking body

Details Method of estimating joint moment of bipedal walking body Method of estimating joint moment of bipedal walking body

2004-06-29

2010-12-28

Hindenburg, Max (Department: 3736)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C600S595000, C073S172000

Reexamination Certificate

active

07860607

ABSTRACT:
The joint rotational angles of joints9, 11and13of each leg2of a bipedal walking body1are detected to grasp the positions/postures of the corresponding rigid bodies10, 12and14of each leg2on a leg plane passing the joints9, 11and13of each leg2. At the same time, the acceleration of a reference point (the origin of a body coordinate system BC) of the bipedal walking body1, the floor reaction force acting on each leg2and the position of an acting point thereof are grasped in terms of three-dimensional amounts. Two-dimensional amounts obtained by projecting the acceleration, the floor reaction force and the position of the acting point thereof, and the positions/postures of the corresponding rigid bodies of each2onto the leg plane are used to estimate the moments acting on joints of each leg on the basis of an inverse dynamic model. The stability of the estimated values of joint moments can be improved while securing the accuracy of estimating the joint moments in the bending and stretching directions of each leg, considering three-dimensional motions of the bipedal walking body.

REFERENCES:
patent: 6289265 (2001-09-01), Takenaka et al.
patent: 2003/0018283 (2003-01-01), Dariush
patent: 2003/0120388 (2003-06-01), Kuroki et al.
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Kato et al. “The Concept of a Walking Assistance Suit”, The Japanese Society of Mechanical Engineers, Aug. 2001 as cited in the IDS for 10642477 doc C1.

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