Provided are a robot having a plurality of legs and a method for determining a touchdown position thereof. The method for determining a touchdown position of a robot is carried out by a computing device and comprises the steps of: detecting disturbance during a swing of a first leg of the robot toward a first touchdown position; calculating a second touchdown position on the basis of a dynamic state of the robot, in response to detecting the disturbance; identifying a step obstacle region on the basis of topographic information of the robot and determining whether the second touchdown position belongs to the step obstacle region; and if the second touchdown position belongs to the step obstacle region, determining a third touchdown position which is outside the step obstacle region, as a touchdown position of the first leg.

    L'invention concerne un robot ayant une pluralité de pieds et un procédé pour déterminer une position de contact de celui-ci. Le procédé de détermination d'une position de contact d'un robot est réalisé par un dispositif informatique et comprend les étapes consistant à : détecter une perturbation pendant une oscillation d'un premier pied du robot vers une première position de contact ; calculer une deuxième position de contact sur la base d'un état dynamique du robot, en réponse à la détection de la perturbation ; identifier une région d'obstacle de pas sur la base d'informations topographiques du robot et déterminer si la deuxième position de contact appartient à la région d'obstacle de pas ; et si la deuxième position de contact appartient à la région d'obstacle de pas, déterminer une troisième position de contact qui est à l'extérieur de la région d'obstacle de pas, en tant que position de contact du premier pied.

    복수의 다리를 갖는 로봇 및 그것의 터치다운 위치 결정 방법이 제공된다. 로봇의 터치다운 위치 결정 방법은 컴퓨팅 장치에 의해 수행되고, 제1 터치다운 위치를 향한 로봇의 제1 다리의 스윙 중 외란을 감지하는 단계, 상기 외란의 감지에 응답하여 상기 로봇의 동역학 상태에 기초한 제2 터치다운 위치를 산출하는 단계, 상기 로봇의 지형 정보에 기초하여 디딤 장애 영역(step obstacle region)을 식별하고 상기 제2 터치다운 위치가 상기 디딤 장애 영역에 속하는지 판단하는 단계, 및 상기 제2 터치다운 위치가 상기 디딤 장애 영역에 속하면 상기 디딤 장애 영역에서 벗어난 제3 터치다운 위치를 상기 제1 다리의 터치다운 위치로서 결정하는 단계를 포함한다.


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    Title :

    ROBOT HAVING PLURALITY OF LEGS AND METHOD FOR DETERMINING TOUCHDOWN POSITION THEREOF


    Additional title:

    ROBOT COMPORTANT UNE PLURALITÉ DE PIEDS ET PROCÉDÉ DE DÉTERMINATION DE LA POSITION DE CONTACT DE CELUI-CI
    복수의 다리를 갖는 로봇 및 그것의 터치다운 위치 결정 방법


    Contributors:
    JEONG HYO BIN (author) / KIM TAE WON (author) / OH JUN HO (author)

    Publication date :

    2024-05-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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