A method is presented for determination of single stance or double stance state
of leg bodies of a bipedal mobile body (BMB). In a single stance state, a floor
reaction force acting on a leg body touching the ground is estimated based on an
equation of motion for the center of gravity (GO) of a BMB. In a double stance
state, floor reaction forces, Fr and Ff respectively, acting on the leg bodies
are estimated based on an equation of motion for GO of a BMB and an expression
of relation between components of Fr and Ff on the respective leg bodies and positions
of ankle portions of the leg bodies relative to the GO of the BMB. Further, based
on an inverse dynamics model, knee and hip joint moments of each leg body are estimated
using floor reaction force values.
