Patent Document ID: 20060195223
Application ID: 10564069
Patent Flag: 0

Claim One:
1. A joint moment estimation method for a two-legged walking mobile body, for estimating a joint moment acting on at least one joint of each leg of the two-legged walking mobile body by using a rigid link model in which the two-legged walking mobile body is represented as a link body where a plurality of rigid elements are coupled together by a plurality of joint elements including at least joint elements corresponding to a hip joint and a knee joint of each leg of the two-legged walking mobile body, the method comprising: a first step of sequentially grasping displacements of the respective joints of the two-legged walking mobile body corresponding to the respective joint elements of the rigid link model; a second step of sequentially grasping values in a body coordinate system of an acceleration vector of the origin of the body coordinate system, which has been preset as a coordinate system fixed to and tilting with one predetermined rigid element of the rigid link model, by using at least an output of an acceleration sensor attached to the two-legged walking mobile body; a third step of sequentially grasping values in the body coordinate system of a floor reaction force vector acting on each leg of the two-legged walking mobile body; a fourth step of sequentially grasping values in the body coordinate system of a position vector of a point of application of the floor reaction force vector; and a fifth step of sequentially estimating joint moments acting on at least one joint of each leg of the two-legged walking mobile body on the basis of an inverse dynamics model representing a relation between a motion of each rigid element of the rigid link model and a translational force and moment acting on the rigid element in the body coordinate system by using the displacements of the respective joints of the two-legged walking mobile body grasped in the first to fourth steps, the value of the acceleration vector of the origin in the body coordinate system, the value of the floor reaction force vector, and the value of the position vector of the point of application of the floor reaction force vector.