The present invention relates to a blind walking control method of a multi-legged walking robot and a robot using same, wherein the method includes the steps of: swinging a first leg toward a first touch-down position according to a trajectory determined on the basis of a flat ground; controlling a swing operation of the first leg so that the first leg lands on a second touch-down position different from the first touch-down position when a change in topography is detected during the swing operation of the first leg; configuring topography information including the second touch-down position; and determining a trajectory for a swing operation of a second leg following the first leg on the basis of the configured topography information.

    La présente invention concerne un procédé de commande de marche aveugle d'un robot marcheur à jambes multiples et un robot l'utilisant, le procédé comprenant les étapes consistant à : faire osciller une première jambe vers une première position de contact avec le sol selon une trajectoire déterminée sur la base d'un sol plat ; commander une opération d'oscillation de la première jambe de sorte que la première jambe se pose sur une seconde position de contact avec le sol différente de la première position de contact avec le sol lorsqu'un changement de topographie est détecté pendant l'opération d'oscillation de la première jambe ; configurer des informations de topographie comprenant la seconde position de contact avec le sol ; et déterminer une trajectoire pour une opération d'oscillation d'une seconde jambe à la suite de la première jambe sur la base des informations de topographie configurées.

    본 발명은 다족 보행 로봇의 블라인드 보행 제어 방법 및 이를 이용하는 로봇에 관한 것으로, 그 방법은 평지 기반으로 결정된 궤적에 따라 제1 터치다운 위치를 향해 제1 다리를 스윙시키는 단계; 제1 다리의 스윙 동작 중 지형의 변화가 감지되는 경우 제1 터치 다운 위치와 상이한 제2 터치다운 위치에 제1 다리가 착지되도록 제1 다리의 스윙 동작을 제어하는 단계; 제2 터치다운 위치를 포함하는 지형 정보를 구성하는 단계; 및 구성된 지형 정보에 기초하여 제1 다리에 후행하는 제2 다리의 스윙 동작을 위한 궤적을 결정하는 단계;를 포함한다.


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    Titel :

    CONTROL METHOD FOR BLIND WALKING OF ROBOT HAVING PLURALITY OF LEGS, AND ROBOT THEREOF


    Weitere Titelangaben:

    PROCÉDÉ DE COMMANDE POUR LA MARCHE AVEUGLE D'UN ROBOT AYANT UNE PLURALITÉ DE JAMBES ET ROBOT ASSOCIÉ
    다족 보행 로봇의 블라인드 보행 제어 방법 및 이를 이용하는 로봇


    Beteiligte:
    JEONG HYO BIN (Autor:in) / KIM TAE WON (Autor:in)

    Erscheinungsdatum :

    26.06.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

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



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