FIELD: method for evaluation of reaction force of support, acting upon legs of two-legged walking body such as individual or two-legged walking robot or similar apparatus, and method for evaluating moments acting upon two-legged walking body joints through usage of designed values of support reaction force.
SUBSTANCE: method involves sequentially determining whether the state of movement of legs is the state of one position or the state of two positions; evaluating equivalent force F of support reaction on the basis of equation of movement for center GO of gravity of two-legged walking body. When the state of movement is the state of one position, designed value of equivalent force F of support reaction is directly used as design value of reaction force of legs support. When the state of movement is the state of two positions, the force Fr of leg support reaction at rear side is determined on the basis of measurement data of past time of the state of two positions and speed of movement of two-legged walking body and preliminarily determined characteristic data, and reaction force Fr of support is subtracted from equivalent force F of support reaction for determining the force Ff of leg support on front side. Method allows support reaction force acting upon legs and moments acting upon leg joints to be defined at high accuracy in real time using relatively simple procedure.
EFFECT: increased efficiency in determining of support reaction force acting upon legs and moments acting upon leg joints and simplified process for determining the same.
11 cl, 16 dwg
