A METHOD FOR RECOGNIZING A FORWARD GROUND ENVIRONMENT OF THE EXOSKELETON ROBOT BY USER`S WALKING PATTERN AND AN APPARATUS FOR THE SAME

摘要

The present invention relates to a method and apparatus for recognizing a front surface environment of an exoskeleton robot based on a user's gait pattern. A method of recognizing a front surface environment of an exoskeleton robot according to a walking pattern of a user according to the present invention comprises the steps of: determining whether the two foot members are aligned in parallel; Determining whether the user's gait pattern satisfies a predetermined reference gait pattern when the two foot members are aligned in parallel (S200); And recognizing a front surface environment of the exoskeleton robot as a pre-stored ground environment corresponding to the predetermined reference gait pattern when the user's gait pattern satisfies a preset reference gait pattern (S300). According to the present invention, stability of control of the exoskeletal robot can be ensured by recognizing the existence of a step and the ascending / descending of the exoskeletal robot.