To ensure an effective walking over uneven terrain formultilegged walking robots, there is necessary to detectthe contact between the leg’s tips and the ground. It isessential to determine the moment when we should endthe swing phase of the leg. This paper presents a methodof detecting contact with the ground based on totalcurrent drawn by the servomotors of each robot’s legs.The method was developed using a 4-legs supportedgait on 5-legged walking robot – PentOpiliones. This detectionmethod has been tested and positively verifiedon a real robot. Also there has been tested the limitationof above method using a gait with different robotpostures and different speeds.
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