US 12,240,099 B2
Robot having a plurality of legs and method for determining touchdown position thereof
Hyo Bin Jeong, Daejeon (KR); Tae Won Kim, Daejeon (KR); and Jun Ho Oh, Seoul (KR)
Assigned to Rainbow Robotics, Daejeon (KR)
Filed by Rainbow Robotics, Daejeon (KR)
Filed on Nov. 30, 2022, as Appl. No. 18/060,399.
Claims priority of application No. 10-2022-0151738 (KR), filed on Nov. 14, 2022.
Prior Publication US 2024/0157572 A1, May 16, 2024
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); B62D 57/032 (2006.01)
CPC B25J 13/084 (2013.01) [B25J 9/1664 (2013.01); B25J 13/089 (2013.01); B62D 57/032 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method for determining a touchdown position of a robot performed by a computing device, the method comprising the steps of:
detecting a disturbance during a swing state of a first leg of the robot toward a first touchdown position;
calculating a second touchdown position based on a dynamic state of the robot in response to the detection of the disturbance;
identifying a step obstacle region based on terrain information and the swing state of the first leg when the disturbance is detected, and determining whether the second touchdown position belongs to the step obstacle region;
determining a third touchdown position outside the step obstacle region as the touchdown position of the first leg, in a case in which the second touchdown position belongs to the step obstacle region; and
controlling the first leg of the robot to be landed at the third touchdown position,
wherein, if the swing state of the first leg when the disturbance is detected is a touchdown phase, the region where a height difference from the first touchdown position is a third threshold value or more is identified as the step obstacle region, and
if the swing state of the first leg when the disturbance is detected is a lifting phase, the region where the height difference from the first touchdown position is the third threshold value or more is not identified as the step obstacle region.