Patent ID: 6971267

Claim:
A method for determining torques to be applied to joints of a leg of a biped walking system, comprising the steps of: determining which leg or legs are in contact with the ground; determining the vertical component of a ground reaction force acting on the leg, based on which leg or legs are in contact with the ground; determining a point of application of the ground reaction force; calculating a moment of the ground reaction force based on the vertical component of the ground reaction force and the point of application of the ground reaction force; calculating moments acting around the joints of the leg, using the moment 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 determining the torques to be applied to the joints of the leg, based on the moments acting around the joints of the leg.