Measuring and testing – Muscular force
Reexamination Certificate
2005-12-06
2005-12-06
Lefkowitz, Edward (Department: 2855)
Measuring and testing
Muscular force
Reexamination Certificate
active
06971267
ABSTRACT:
A method and processor for obtaining torques to be applied to joints of a leg of a biped walking system are provided. The method comprises the steps of obtaining moments acting around the joints of the leg, using the vertical component of the ground reaction force acting on the leg at the point of application of the ground reaction force, the vertical components of forces acting on the joints of the leg and a term of the acceleration of gravity and without using the horizontal components of the forces acting on the joints of the leg and a term of acceleration except the term of the acceleration of gravity and obtaining the torques to be applied to the joints of the leg, based on the moments acting around the joints of the leg. The vertical component of the ground reaction force acting on the leg, is obtained based on which leg or legs are in contact with the ground. The processor is configured to perform the above steps.
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Dariush Behzad
Ikeuchi Yasushi
Kawai Masakazu
Fenwick & West LLP
Honda Giken Kogyo Kabushiki Kaisha
Lefkowitz Edward
Thompson Jewel V.
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