SUPPORT REACTION EVALUATING METHOD AMD METHOD FOR EVALUATING MOMENTS OF ARTICULATED JOINTS OF DOUBLE-LEG WALKING BODY Russian patent published in 2006 - IPC B25J13/00 

FIELD: measuring technique, possibly measurements of support reaction efforts acting upon legs of walking moving bodies, evaluation of efforts acting upon articulated joints of legs of such bodies.

SUBSTANCE: method comprises steps of evaluating reaction of support according to number of body legs touching support. Calculated values of support reaction efforts are received with use of techniques depending upon respective supporting states. For example, when double-leg walking moving body rests upon one support, designed value of support reaction effort is received from mass value, gravity acceleration and gravity center acceleration of walking body. When double-leg walking body rests upon two supports, designed values of support reaction efforts are received on base of mass value, gravity acceleration and acceleration of gravity center of walking moving body and from positions of concrete part of each leg relative to gravity center. Method for evaluating moments of articulated joints of double-leg walking body is realized due to using reverse-dynamic model while taking into account support reaction efforts.

EFFECT: possibility for determining support reaction efforts acting upon legs of walking body and moments acting upon articulated joints of its leg in real time.

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