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KR-102960286-B1 - APPARATUS FOR OVERCOMING AN OBSTACLE OF A WALKING ROBOT USING MAGNETIC FEET AND METHOD THEREOF

KR102960286B1KR 102960286 B1KR102960286 B1KR 102960286B1KR-102960286-B1

Abstract

The present invention relates to a method for overcoming obstacles using a walking robot with magnetic feet, and is a computer-implemented method for overcoming obstacles in which, when executed by the robot's data processing hardware, the data processing hardware performs the following operations, wherein the robot comprises: a body; and four legs, each leg comprising a foot having an attachment portion that can be selectively attached to and detached from a steel surface, and the method is characterized by comprising the following steps: (a) positioning the body within a preset distance from the obstacle; (b) moving the robot's body upward so that the center of the body is positioned above the obstacle; (c) sequentially detaching the robot's front legs and moving them to the opposite side of the obstacle and then fixing them using the attachment portion; (d) moving the body to the opposite side of the obstacle after the front legs are fixed to the opposite side of the obstacle; and (e) while the body is positioned on the opposite side of the obstacle, sequentially detaching the robot's rear legs and moving them to the opposite side of the obstacle and then fixing them using the attachment portion.

Inventors

  • 김준하
  • 권순표
  • 엄용
  • 신영하

Assignees

  • 주식회사 디든로보틱스

Dates

Publication Date
20260507
Application Date
20260108

Claims (12)

  1. A computer implementation method for overcoming obstacles, wherein, when executed by data processing hardware of a robot, said data processing hardware causes said data processing hardware to perform the following operations, The above robot is, Body; and It includes four legs, Each leg includes a foot having an attachment part that can be selectively attached and detached from a steel surface, and The above method is characterized by comprising the following steps: (a) A step of positioning the body within a preset distance from the above obstacle; (b) a step of moving the body of the robot upward so that the center of the body is positioned over the obstacle; (c) A step of sequentially separating the forelegs of the robot, moving them to the opposite side of the obstacle, and then fixing them using an attachment part; (d) a step of moving the torso to the opposite side of the obstacle after the forelegs are fixed to the opposite side of the obstacle; and (e) A step comprising, while the body is positioned on the opposite side of the obstacle, sequentially separating the hind legs of the robot and moving them to the opposite side of the obstacle, and then fixing them using an attachment part. The above step (a) is, It includes a step of approaching an obstacle by moving four legs sequentially, While one leg is separated from the floor, the center of the body is controlled to be maintained within the support polygon formed by the remaining legs fixed to the floor, and The body movement in step (b) above is, The above body center is positioned within a magnetic support polygon in a state where at least one of the four legs of the robot is detached, and While the forelegs are being separated in step (c) above, the center of the torso is located outside the geometric support polygon formed by the remaining legs fixed to the ground, but is controlled to be maintained within the magnetic support polygon formed by the magnetic force of the attachment points of the remaining legs, and The body movement of step (b) or step (d) above is, Performed while the four legs of the above robot remain fixed through the attachment part, method.
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Description

Apparatus for Overcoming an Obstacle of a Walking Robot Using Magnetic Feet and Method Thereof The present invention relates to a technology for overcoming obstacles in a walking robot using magnetic feet. The present invention relates to an obstacle overcoming technology for a multi-legged walking robot, and more specifically, to an intelligent robot control method for overcoming various obstacles existing in complex and irregular environments, such as ships. With the recent increase in demand for automation in industrial settings, the importance of multi-legged walking robots capable of performing tasks in complex environments that are difficult for conventional wheeled or tracked robots to access is growing. In particular, the environments for shipbuilding, inspection, and maintenance are typical irregular spaces composed of numerous bulkheads, pipes, and unpredictable obstacles. To enable robots to move freely and perform tasks in such environments, obstacle-overcoming capabilities similar to or greater than those of humans are essential. The marine environment contains specialized obstacles that are difficult to overcome using only standard walking techniques. For instance, robots encounter "surface transition" situations where they must move from a horizontal deck to a vertical bulkhead or vice versa. Additionally, it is common for robots to navigate through narrow manholes or "access holes" installed in bulkheads to move to other areas. Furthermore, they must overcome obstacles that require maneuvers such as lunges over high door sills on the deck or jumping over wide gaps like pipes. However, conventional multi-legged walking robot technology primarily focuses on stable walking on flat surfaces or gentle slopes. This stability relies on positioning the robot's center of gravity within a 'support polygon' formed by connecting the points where the robot's feet touch the ground. This support polygon-based control method has inherent limitations that severely restrict the robot's movement. For example, lifting a leg or making large body movements requires shifting the center of gravity within the support polygon first, resulting in slow and inefficient operations. In particular, there were clear limitations in performing complex 3D movements, such as 'wall transitions' or 'passing through openings,' where the robot's center of gravity must narrowly cross the boundaries of the support polygon. Existing technology struggles to stably control rapid posture changes within such a restricted support polygon, and even when using magnetism, there is a lack of control algorithms capable of precisely ensuring stability in response to changing support conditions. Therefore, to maximize the utilization of robots in complex industrial environments such as ships, there is an urgent need for a new concept of robot obstacle-overcoming technology that goes beyond the existing limited support polygon concept and can climb up and down walls, pass through narrow holes, and dynamically jump over wide obstacles. FIG. 1 is a system configuration diagram of a robot according to one embodiment of the present invention. FIG. 2 is a perspective view of a robot and an obstacle environment according to one embodiment of the present invention. Figure 3 is a diagram illustrating the magnetic support polygon of the present invention through a comparison with the prior art. FIG. 4 is a diagram sequentially illustrating the obstacle overcoming steps of a robot according to one embodiment of the present invention. FIG. 5 is a plan view illustrating the stability of a robot during the walking process according to one embodiment of the present invention. FIG. 6 is a diagram illustrating the prediction of a support polygon according to one embodiment of the present invention. FIG. 7 is a diagram illustrating the control for securing the stability of a robot according to one embodiment of the present invention. FIG. 8 is a flowchart illustrating a method for overcoming obstacles according to an embodiment of the present invention. FIG. 9 is a perspective view of a robot and an opening environment according to one embodiment of the present invention. FIG. 10 is a drawing that sequentially illustrates the steps of overcoming an opening of a robot according to one embodiment of the present invention. FIG. 11 is a diagram illustrating forward and reverse driving forces according to an embodiment of the present invention. FIG. 12 is a drawing for explaining the operation of verifying the attachment stability of a leg according to one embodiment of the present invention. FIG. 13 is a drawing sequentially illustrating the process of a robot transitioning from a vertical surface to a horizontal surface according to one embodiment of the present invention. FIG. 14 is a flowchart illustrating a method for overcoming an opening according to an embodiment of the present invention. FIG. 15 is a perspective view of a robot and a wall switching environment