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Method and processor for obtaining moments and torques in a biped walking system

  • US 20040116836A1
  • Filed: 08/15/2003
  • Published: 06/17/2004
  • Est. Priority Date: 09/23/2002
  • Status: Active Grant
First Claim
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1. A method for obtaining 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;

    obtaining an attitude of the leg;

    obtaining the vertical component of acceleration of the center of gravity of the whole body including the leg;

    obtaining the vertical component of a ground reaction force acting on the leg, based on which leg or legs are in contact with the ground, the attitude of the leg and the vertical component of acceleration of the center of gravity of the whole body including the leg;

    obtaining a point of application of the ground reaction force;

    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.

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