FORCE/TORQUE SENSOR FOR A ROBOT AND METHOD OF CONTROLLING WALKING OF THE ROBOT USING THE SAME

摘要

robot force / torque sensor and the sensor on by the measured value in accordance with the control of walking robots method is disclosed. A method of controlling the walking of the robot is the robot's upper body in accordance with the steps and the measured rotational torque to measure the rotational torque in a direction perpendicular to the drawing in accordance with the walking of the robot via a force / torque sensor installed on the legs of the robot and by controlling the joint comprising the step of adjusting the applied load to the legs of the robot . ;