KR101908215B1 - Method for controlling of walking robot having four legs - Google Patents

Abstract

The method for controlling a four-legged row robot according to an embodiment of the present invention is a method for controlling a four-legged row robot to control a four-legged row robot having four legs and a body supported by the four legs, A system for controlling a family tree robot, comprising: a first step of calculating a center of gravity of the family of four-legged row robots; a step of setting a setting area that is a range of a rotation allowance angle of the center of gravity, A second step of acquiring first information indicating whether the center of gravity is located in the setting area set in the second step;
And a fourth step of controlling the walking robot so that the center of gravity is included in the setting area based on the first information, wherein the setting area includes a roll, a pitch, and a pitch for maintaining the walking of the four- It can be defined as the range of allowable angle of yaw rotation.

Description

[0001] The present invention relates to a method of controlling a robot,

The present invention relates to a method for controlling a four-legged row robot, and more particularly, to a control method for controlling a four-legged row robot so that a four-legged row of robots walking in various environments is maintained.

Walking robots are widely used in the defense industry for transportation of weapons and materials, disaster structures such as wildfires and life structures of humans that can not enter, space industries such as planetary exploration.

Generally, to determine the walking stability of the walking robot as described above, a static stability margin or a dynamic stability margin is used to determine whether the walking of the walking robot is maintained or impossible.

The static stability margin is a method of projecting the center of gravity of the robot body to the area drawn by three legs or four legs that are in contact with the ground and determining that the robot is stably walking when the projection point is in the area. A number of prior arts (Korean Patent No. 10-085987, etc.) which implement a walking control method of a walking robot using a static stability margin have been disclosed.

Also, the dynamic stability margin is a stability determination method in which the ZMP (Zero moment point) exists in the ground region as a stable walking. A number of prior arts (e.g., Korean Patent Laid-Open Publication No. 2013-0078886) that implement a walking control method of a walking robot using dynamic stability margin are disclosed.

Such a conventional stability determination method can relatively easily determine the stability by using the static stability margin in the case of a walk that moves one step at a time, which is not fast. However, the grounding of a walking robot such as a trot, Since the area appears as a line (in the case of a four-legged robot, the soles appear as dots or are very narrow), the stability margin is very narrow.

In addition, dynamic safety margin is used for flying trot and gallop, which have a high walking speed, rather than a static stability margin. In addition, in the case of a four-legged walking robot, the grounding area is very narrow, And it becomes difficult or impossible to determine the stability using the dynamic stability margin.

It is an object of the present invention to provide a method and apparatus for estimating gait stability of a walking robot which is generated by a walking robot to determine a gait stability based on a static stability margin or a dynamic stability margin, The present invention provides a method for controlling a quadrupedal walking robot using a wobble, that is, an Euler angle of a walking robot body.

To this end, a three-dimensional stability zone (composed of values of roll, pitch, and yaw) made up of Euler angles is set, and the movement of the robot is controlled so that the Euler angles measured in the stable region stay.

The method for controlling a four-legged row robot according to an embodiment of the present invention is a method for controlling a four-legged row robot to control a four-legged row robot having four legs and a body supported by the four legs, A system for controlling a family tree robot, comprising: a first step of calculating a center of gravity of the family of four-legged row robots; a step of setting a setting area that is a range of a rotation allowance angle of the center of gravity, A second step of acquiring first information indicating whether the center of gravity is located in the setting area set in the second step;

And a fourth step of controlling the walking robot so that the center of gravity is included in the setting area based on the first information, wherein the setting area includes a roll, a pitch, and a pitch for maintaining the walking of the four- It can be defined as the range of allowable angle of yaw rotation.

The setting range of the four-legged row robot control method according to an embodiment of the present invention is set such that the roll, pitch, and yaw rotation angles are set to three-dimensional axes, and the allowable angle range of the roll, pitch, And can be implemented in three dimensions.

The second step of the method for controlling a four-legged row robot according to an embodiment of the present invention is a method for controlling a four-legged row robot in a first direction, comprising the steps of: calculating a first inclination angle of the ground in the first direction, And a second step of calculating a second inclination angle of the ground in a first direction and a second direction perpendicular to the first direction.

In the step 2-1 of the method for controlling a four-legged row robot according to an embodiment of the present invention, when the first inclination angle is 0, the allowable angle range of the pitch rotation is the pitch rotation May be the same as the nominal angle of.

If the first inclination angle has a positive value with respect to the ground, the range of the allowable angle of the pitch rotation is 0 Deg. And the first gyro row robot is pitch-rotated to bring the body into contact with the ground.

The first rotation angle of the four-legged row robot control method according to an embodiment of the present invention may be larger than the nominal angle of pitch rotation of the four-legged row robot.

In the step 2-1 of the method for controlling a four-legged row robot according to an embodiment of the present invention, when the first inclination angle has a negative value with respect to the ground, the range of allowable angles of the pitch rotation is 0 ° and the 4-legged row robot is pitch-rotated to bring the body into contact with the ground.

The 1-2 rotation angle of the 4-legged row robot control method according to an embodiment of the present invention may be smaller than the nominal angle of pitch rotation of the 4-legged row robot.

In the step 2-2 of the method for controlling a four-legged row robot according to an embodiment of the present invention, when the second inclination angle is 0 °, the allowable angle range of the roll rotation is determined by the roll rotation May be the same as the nominal angle of.

The second inclination angle of the second inclination angle of the four-legged row robot control method according to an embodiment of the present invention is such that the second inclination angle has a positive value with respect to the ground surface in one direction with respect to the center of gravity, Wherein the range of allowable angles of the roll rotation is larger than 0 DEG in the one direction and the 4-legged row robot is roll-rotated to contact the body with the ground, May be less than or equal to the rotation angle.

The 2-1 rotation angle of the 4-legged row robot control method according to an embodiment of the present invention may be larger than the nominal angle of the roll rotation of the 4-legged row robot in the one direction.

The second inclination angle of the second inclination angle of the four-legged row robot control method according to an embodiment of the present invention is such that the second inclination angle has a negative value with respect to the ground surface in one direction with respect to the center of gravity, Wherein the range of permissible angles of the roll rotation is larger than 0 DEG in the other direction and the 4-legged row robot is roll-rotated to bring the body into contact with the ground, It may be less than or equal to two rotation angles.

The second-2 rotation angle of the 4-legged row robot control method according to an embodiment of the present invention may be larger than the nominal angle of the roll rotation in the other direction of the 4-legged row robot.

The second step of the method for controlling a four-legged row robot according to an embodiment of the present invention is a method for controlling a four-legged row robot according to an embodiment of the present invention, wherein a range of allowable angles of pitch rotation obtained on the basis of the first inclination angle, And calculating the range of allowable angle of yaw rotation from the allowable angle range.

The range of the allowable angle of the yaw rotation may be the same as the nominal angle of the yaw rotation of the four-legged row robot in the step 2-3 of the method of controlling a four-legged row robot according to an embodiment of the present invention.

According to the method for controlling a four-legged row robot according to the present invention, it is possible to judge the walking stability of a four-legged walker walking on various ground environments such as uneven ground and slope.

In addition, by setting the rotation allowance angle of the center of gravity of the walking robot to a setting area of three-dimensional (composed of roll, pitch, yaw values) made up of Euler angles, it is possible to judge the walking stability of the walking robot in a more intuitive and comprehensive form .

1 is a schematic perspective view showing a four-legged row robot to which a method of controlling a four-legged row robot according to an embodiment of the present invention is applied.
2 is a flowchart of a method for controlling a four-legged row robot according to an embodiment of the present invention.
FIG. 3 is a schematic view showing a setting area of a four-legged row robot control method according to an embodiment of the present invention; FIG.
FIGS. 4 to 8 are schematic views for explaining a second step of the 4-legged row robot control method according to an embodiment of the present invention; FIG.
FIG. 9 to FIG. 11 are schematic views for explaining step 2-2 of the method for controlling a four-legged row robot according to an embodiment of the present invention;
FIG. 12 is a schematic view for explaining steps 2-3 of a method for controlling a four-legged row robot according to an embodiment of the present invention; FIG.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventive concept. Other embodiments falling within the scope of the inventive concept may readily be suggested, but are also considered to be within the scope of the present invention.

The same reference numerals are used to designate the same components in the same reference numerals in the drawings of the embodiments.

FIG. 1 is a schematic perspective view showing a four-legged row robot to which a method of controlling a four-legged row robot according to an embodiment of the present invention is applied.

1, a method for controlling a four-legged row robot according to an embodiment of the present invention includes a four-legged row robot having four legs L and a body B supported by the four legs L, (I). ≪ / RTI >

First, among conventional walking robots, a walk robot that moves one step at a time can relatively easily determine the stability by using the static stability margin. However, a trout that moves two feet in a diagonal position is a ground robot (D), the stability margin is very narrow, so that even though walking is actually stable, the phenomenon of easily deviating from the grounding region occurs.

The method for controlling a four-legged row robot according to the present invention is a method for controlling a four-legged row robot in which an extension line (D) connecting a ground and a grounding region of two legs of a four- This is the invention derived in order to overcome the difficulty of control by controlling the four-legged row robot I so that the center of gravity of the four-legged row robot I is located within the extended line.

Hereinafter, a method for controlling a four-legged row robot according to the present invention will be described with reference to FIG. 2 to FIG.

FIG. 2 is a flowchart of a method for controlling a four-legged row robot according to an embodiment of the present invention, and FIG. 3 is a schematic diagram illustrating a setting area of a method for controlling a four-row family robot according to an embodiment of the present invention.

2 and 3, a method for controlling a four-legged row robot according to an embodiment of the present invention (hereinafter referred to as a control method) includes a first step S1 for calculating a center of gravity of a four- A second step (S2) of setting a setting area (W) which is a range of the rotation allowance angle of the center of gravity so that the walking of the four-legged row robot (I) is maintained, A third step (S3) of obtaining first information that indicates whether the center of gravity is located in the region (W) and a third step (S3) of determining whether the center of gravity is included in the setting region And a fourth step (S4) of controlling the row robot (I).

The fourth step (S1) is a step of calculating the center of gravity of the four-legged row robot, and the center of gravity is the center of gravity of the four legged row robot R and the four legs L And the position of the center of gravity of the body B can be different according to the shape of the four legs L and the body B. [

The second step (S2) is a step of setting a range of the rotation allowance angle of the center of gravity so that the walking of the four-legged row robot (I) is maintained, and the walking of the four- Means that the body B of the 4-legged row robot I can continue to walk with the four legs L without contacting the ground surface.

The setting area which is the range of the rotation allowance angle of the center of gravity is defined as the range of allowable angles of roll, pitch and yaw rotation for keeping the four legged row robots I .

Further, the setting area is set by setting the roll, pitch and yaw rotation angles? R,? P, and? Y to three-dimensional axes, Expressed in angles).

More specifically, the setting area W is set by setting the index of the normal x-axis, y-axis and z-axis defining the three-dimensional space to the roll rotation angle? R, the pitch rotation angle? P, By setting the permissible angle of the roll rotation angle? R, the allowable angle of the pitch rotation angle? P and the allowable angle of the yaw rotation angle? Y as a limited space in the three-dimensional space have.

The second step S2 is a step of calculating the first inclination angle? 1 of the ground in the first direction V1 of the four-legged row robot I that is walking in the first direction V1 (see Fig. 4) 2) of calculating the second inclination angle [theta] 2 of the paper in the second direction (V2, see Fig. 9) which is the direction perpendicular to the first direction (V1) .

Here, the first direction V1 means the traveling direction of the four-legged row robot I, and the first inclination angle? 1 of the ground means a direction in which the four-legged row robot I May mean the inclination angle of the paper surface. Specifically, when the first inclination angle [theta] 1 is 0 [deg.], The four-legged row robot I means that the robot 1 is walking on the ground without inclination in the first direction V1, Is positive, it means that the 4-legged row robot I is walking on the ascending topography, and if the first inclination angle 1 is a negative value, the downhill terrain of the 4-legged row robot I is walking .

Also, the first direction V1 may be a direction parallel to the rotation axis direction of the roll rotation.

The second direction V2 perpendicular to the first direction V1 means the left or right direction of the four-legged row robot I0 in walking in the first direction V1.

2 refers to the center of gravity, that is, the inclination angle of the ground on one side (V21, see Fig. 9) with respect to the center of the quartignave row robot I, or the inclination angle of the other side Refer to the inclination angle of the ground surface.

Here, if the inclination angle of the paper to the one direction (V21) is a positive value with respect to the center of gravity, the inclination angle of the paper in the other direction (V22) may be a negative value. The second inclination angle? 2 means a degree of inclination of the ground, but one direction (V21) is a positive value and the other direction (V22) is a negative value with respect to the center of the quartet family robot (I) It is possible to have this inclination angle.

FIGS. 4 to 8 are schematic views for explaining the second step of the 4-legged row robot control method according to the embodiment of the present invention.

4, in step 2-1 of the method for controlling a four-legged row robot according to an embodiment of the present invention, when the first inclination angle? 1 is 0, the allowable angle range of the pitch rotation is Can be equal to the nominal angle? Pn of the pitch rotation of the 4-legged row robot (I).

The nominal angle? Pn of the pitch rotation is the nominal value of the quartet family row robot I in the designing stage of the quartet family row robot I, that is, in designing the quartet family row robot I, Refers to the nominal angle of pitch rotation that allows gait to be maintained according to the design of the four legs L and the body B and various control values. The nominal angle? Pn of the pitch rotation may be different from the value of the actual pitch rotation angle at which the gait is maintained during the operation of the actual four-legged row robot I.

If the first inclination angle? 1 is 0, it means that there is no inclination of the paper in the first direction V1. Therefore, the nominal angle? Pn of the pitch rotation and the four- The range of allowable angles of the pitch rotation for the gait maintenance can be the same.

5, when the first inclination angle [theta] 1 has a positive value with respect to the horizontal plane, the allowable angle range of the pitch rotation is larger than 0 [deg.] And smaller than the first rotation angle A2 Or the same. In other words, when the first inclination angle [theta] 1 has a positive value with respect to the ground, the range of the permissible angle of the pitch rotation may range from 0 [deg.] To the first rotation angle A2.

Referring to FIG. 5A, when the rotation angle? P of the pitch is rotated in the r1 direction, it is defined as a positive value, and when it is rotated in the r2 direction, it is defined as a negative value.

The pitch rotation angle of 0 degrees means that the angle formed by the horizon plane and the center of gravity is 0 °. Specifically, the body B of the four-legged row robot I is arranged in parallel with the horizontal plane In this case, the ground of the first B-row robot I and the ground of the first inclination angle? 1 may be formed at a certain angle (assuming that the body of the four-legged row robot is flat) (See Fig. 5 (a)).

The first rotation angle A2 is calculated based on the center of gravity of the four-legged row robot I when the four-legged row robot I is pitch-rotated and the body B is in contact with the ground, Means the angle at which the pitch is rotated. The first rotation angle A2 may be larger than the nominal angle? Pn of the pitch rotation of the four-legged row robot I.

When the center of gravity of the four-legged row robot I pitch-rotates within the allowable angle range of the pitch rotation, the walking can be maintained without falling down while walking on the ground of the first inclination angle? 1.

When the center of gravity of the 4-legged row robot I becomes smaller than the lower limit value 0 DEG of the allowable angle of the pitch rotation (when? P is A1), the body B of the 4-legged row robot I, The body B can be reversed in the direction opposite to the first direction V1 (see FIG. 5 (b)) by increasing the separation distance from the ground surface of the first inclination angle? 1.

When the center of gravity of the quadrivalent row robot I is larger than the first rotation angle A2 which is the upper limit value of the allowable angle of pitch rotation (see Fig. 5 (c)), The tip of the body B of the four-legged row robot I may come into contact with the ground of the first inclination angle? 1 and the walking of the four-legged row robot I may be difficult.

FIG. 6 is a graph showing a range of allowable angles of the pitch rotation in a two-dimensional space when the first inclination angle? 1 according to FIG. 5 has a positive value with respect to the ground. This is for setting the three-dimensional setting area W. [

 7, when the first inclination angle? 1 has a negative value with respect to the horizontal plane, the range of the permissible angle of the pitch rotation is smaller than 0 °, May be greater than or equal to the rotation angle A4.

Here, the 1-2 rotation angle A4 is the center of gravity of the 4-legged row robot I when the 4-legged row robot I is pitch-rotated and the body B is in contact with the ground, Means the angle at which the pitch is rotated. The first rotation angle A4 may be smaller than the nominal angle? Pn of the pitch rotation of the quartet family robot I.

In addition, when the four-legged row robot I is pitch-rotated within the allowable angle range of the pitch rotation, the four-legged row robot I can keep walking without falling down while walking on the ground of the first inclination angle? have.

When the center of gravity of the 4-legged row robot I is larger than the upper limit value 0 DEG of the allowable angle of pitch rotation (when? Pn is A3) The front end of the body B is reduced in the distance from the ground surface of the first inclination angle? 1, so that the body B can be inverted in the first direction V1.

When the center of gravity of the four-legged row robot I becomes smaller than the first-second rotational angle A4 which is the lower limit value of the permissible angle of the pitch rotation, the body B of the four- And the walking of the four-legged row robot I may be difficult.

FIG. 8 is a graph showing a range of allowable angles of the pitch rotation in a two-dimensional space when the first inclination angle? 1 according to FIG. 7 has a negative value with respect to the ground. This is for setting the three-dimensional setting area W. [

In order to set the permissible angle of pitch rotation of the center of gravity of the four-legged row robot when the ground on which the four-legged row robot is walking is inclined, as shown in Figs. 5 (a) and 7 The case where the body of the row robot is arranged horizontally with respect to the horizontal plane is set as the reference angle of the pitch rotation. Alternatively, the center of gravity of the 4-legged row robot may be projected onto the ground, The body angle of the four-legged row of robots may be set as a reference angle for setting the allowable angle of pitch rotation of the four-legged row of the robot's center of gravity.

FIGS. 9 to 11 are schematic views for explaining step 2-2 of the method for controlling a four-legged row robot according to an embodiment of the present invention.

Referring to FIG. 9, in step 2-2 of the method for controlling a four-legged row robot according to an embodiment of the present invention, when the second inclination angle? 2 is 0 °, Can be equal to the nominal angle? Rn of roll rotation of the four-legged row robot (I).

The nominal angle? Rn of the roll rotation is the nominal value of the quartet family row robot I in the designing stage of the quartet family row robot I, that is, in designing the quartet family row robot I, Refers to the nominal angle of roll rotation which allows the walking to be maintained according to the design of the four legs L and the body B and the various control values. The nominal angle? Rn of the roll rotation may be different from the value of the actual roll rotation angle so that the walking is maintained in the course of operation of the actual four-legged row robot I.

The second inclination angle 2 has a positive value with respect to the ground G toward the one direction V21 in the second direction V2 perpendicular to the first direction V1, , The range of allowable angles of the roll rotation is the one direction (V21) greater than 0 DEG and the second angle? May be less than or equal to the rotation angle A6.

The second-first rotation angle A6 is a rotation angle of the four-legged row robot I so that the four-legged row robot I is rolled so that the side of the body B, specifically the body B, And the second-first rotation angle A6 may be larger than the nominal angle? Rn of the roll rotation of the quartet family row robot I to the one-way V21.

When the center of gravity of the 4-legged row robot I is smaller than the lower limit value 0 DEG of the roll rotation (when? R is A5), the body B of the 4-legged row robot I, The distance between the left end of the body B and the ground G of the second inclination angle 2 decreases and the body B may collapse in the other direction V22.

 When the center of gravity of the 4-legged row robot I is larger than the 2-1 rotation angle A6 which is the upper limit value of the allowable angle of the roll rotation, And the right end is brought into contact with the ground G of the second inclination angle [theta] 2, so that it is difficult for the four-legged row robot I to walk.

In the step 2-2, the second inclination angle 2 has a negative value with respect to the ground G toward the one direction V21, and the ground G is inclined toward the other direction V22 , The range of allowable angles of the roll rotation is larger than 0 DEG in the other direction V22 so that the four-legged row robot I is rolled and rotated so that the body B is moved to the ground G 2 < 2 >

The second-twelfth rotational angle A8 is a rotation angle of the four-legged row robot I so that the four-legged row robot I is rolled so that the side surface of the body B, specifically the body B, And the second 2-2 rotation angle A8 may be larger than the nominal angle? Rn of the roll rotation of the 4-legged row robot I in the other direction V22.

When the center of gravity of the 4-legged row robot I is smaller than the lower limit value 0 DEG of the roll rotation (when? Rn is A7), the body B of the quartet family row robot I The distance between the right end of the body B and the ground G of the second inclination angle 2 decreases and the body B may collapse in the one direction V21.

 When the center of gravity of the 4-legged row robot I is larger than the 2-2 rotation angle A8 which is the upper limit value of the allowable angle of the roll rotation, The left end is brought into contact with the ground G of the second inclination angle 2 and it is difficult for the four-legged row robot I to walk.

At this time, the second-second rotation angle A8 may be larger than the nominal angle of the roll rotation in the other direction V22 of the quartet family row robot I.

FIG. 11 is a diagram showing a range of allowable angles of the roll rotation according to the second inclination angle? 2 according to FIGS. 9 and 10 in a two-dimensional space. This is for setting the three-dimensional setting area W. [

FIG. 12 is a schematic view for explaining steps 2-3 of the method for controlling a four-legged row robot according to an embodiment of the present invention.

12, in the second step of the method for controlling a four-legged row robot according to an embodiment of the present invention, a range of allowable angles of pitch rotation obtained on the basis of the first inclination angle? 1, and calculating the range of allowable angles of the yaw rotation from the range of allowable angles of the roll rotation obtained based on the angle? 2.

In the step 2-3, the allowable angle range of the yaw rotation may be equal to the nominal angle? Kn of the yaw rotation of the four-legged row robot I.

The range of allowable angles of the yaw rotation is different depending on the direction in which the four-legged row robot I is moving. The ranges of the pitch rotation allowable angle and the roll rotation allowable angle and the range Can be derived in consideration of the directionality of the genealogy robot (I).

The four-legged row robot according to an embodiment of the present invention may be a walking robot controlled by the four-row row robot control method described with reference to FIGS.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be apparent to those skilled in the art that changes or modifications may fall within the scope of the appended claims.

I: 4 genealogical robot
S1: Step 1
S2: Step 2
S3: Step 3
S4: Step 4

Claims (15)

A four-legged row robot control method for controlling a four-legged row robot to keep a trous foot of a four-legged row robot having four legs and a body supported by the four legs,
A first step of calculating a center of gravity of the 4-legged row robot;
A second step of setting a setting area that is a range of the rotation allowance angle of the center of gravity for allowing the walking of the 4-legged row robot to be maintained;
A third step of obtaining first information indicating whether the center of gravity is located within the setting area set in the second step; And
And a fourth step of controlling the four-legged row robot so that the center of gravity is included in the setting area based on the first information,
The setting area includes:
Pitch and yaw rotation angles are defined as the ranges of allowable angles of roll, pitch, and yaw rotation for maintaining the walking of the four-legged row robot, and the roll, pitch and yaw rotation angles are set to three- Wherein the range of allowable angles is implemented in three dimensions.
delete The method according to claim 1,
The second step comprises:
A step 2-1 of calculating the first inclination angle of the ground in the first direction of the four-legged row robot walking in the first direction and the step And a second step (2-2) of calculating two inclination angles.
The method of claim 3,
In the step 2-1,
Wherein the range of allowable angles of the pitch rotation is equal to a nominal angle of pitch rotation of the quartet family robot when the first inclination angle is 0 °.
The method of claim 3,
In the step 2-1,
Wherein when the first inclination angle has a positive value with respect to the ground, the range of allowable angles of the pitch rotation is larger than 0 DEG, and the four-legged row robot is pitch-rotated so that the body contacts the ground. -1 rotation angle of the four-legged row robot.
6. The method of claim 5,
Wherein the first rotation angle is larger than the nominal angle of pitch rotation of the quartet family robot.
The method of claim 3,
In the step 2-1,
Wherein when the first inclination angle has a negative value with respect to the ground, the range of allowable angles of the pitch rotation is less than 0 DEG, and the four-legged row robot is pitch-rotated so that the body contacts the ground. -2 rotation angle of the four-legged row robot.
8. The method of claim 7,
Wherein the first-second rotation angle is smaller than the nominal angle of pitch rotation of the four-legged row robot.
The method of claim 3,
In the step 2-2,
Wherein the range of allowable angles of the roll rotation is equal to a nominal angle of roll rotation of the quartet family row robot when the second inclination angle is 0 °.
The method of claim 3,
In the step 2-2,
When the second inclination angle has a positive value with respect to the paper surface in one direction and has a negative value with respect to the paper surface in the other direction, And a second-first rotation angle at which the four-legged row robot is rotated so that the body is in contact with the ground.
11. The method of claim 10,
Wherein the 2-1 rotation angle is larger than the nominal angle of roll rotation in the one direction of the 4-legged row robot.
The method of claim 3,
In the step 2-2,
When the second inclination angle has a negative value with respect to the paper surface toward one direction and has a positive value with respect to the paper surface toward the other direction, the range of allowable angles of the roll rotation is 0 deg. And wherein the 4-legged row robot is rotated and rotated so that the body contacts the ground.
13. The method of claim 12,
Wherein the second-2 rotation angle is larger than the nominal angle of the roll rotation in the other direction of the four-legged row robot.
The method of claim 3,
The second step comprises:
A second step of calculating a range of permissible angles of yaw rotation based on a range of allowable angles of pitch rotation obtained on the basis of the first inclination angles and a range of permissible angles of roll rotation obtained on the basis of the second inclination angles Further comprising the steps of:
15. The method of claim 14,
In the step 2-3,
Wherein a range of allowable angles of said yaw rotation is equal to a nominal angle of yaw rotation of said four-legged row of robots.

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