Postural control of locomotion system adapting to the external forces

摘要

In this paper, we consider a postural adaptation of locomotion system against the external forces. When the external force contains the vertical component, the maximum torque of ankle joint is restricted. Thus, from the ground reaction forces measured at the heel and the toe, the vertical component is estimated. On the other hand, the difference in the time average of two ground reaction forces is controlled. As a result, the body part is adaptively inclined against horizontal component of the external force.