Patent ID: 11944580
Assignee: HYUNDAI MOTOR COMPANY
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 4:
5. The robot of claim 4, wherein the controller is configured to:
determine as a gait phase that a corresponding leg is supported on the ground throughout the sole when the toe is in contact with the ground and the heel is in contact with the ground,
determine as a gait phase that a corresponding leg is supported on the toe on the ground when the toe is in contact with the ground and the heel is not in contact with the ground,
determine as a gait phase that a corresponding leg is supported on the heel on the ground when the toe is not in contact with the ground and the heel is in contact with the ground, and
determine as a gait phase that a corresponding leg is in the air when both the toe and the heel are not in contact with the ground.