Robot having a plurality of legs and method for determining touchdown position thereof
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United States of America
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Mar 4, 2025
Grant Date -
May 16, 2024
app pub date -
Nov 30, 2022
filing date -
Nov 30, 2022
priority date (Note) -
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Abstract
The present invention relates to 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 swing 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 of the robot and determining whether the second touchdown position belongs to the step obstacle region, and determining a third touchdown position out of 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.
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