WALKING ROBOT SYSTEM, A GROUND ANALYZING METHOD OF THE WALKING ROBOT SYSTEM AND A WALKING METHOD CAPABLE OF ACCURATELY DETECTING THE GROUND INFORMATION BY DIRECTLY CONTACTING A ROBOT FOOT TO THE SURFACE OF WALKING

摘要

PURPOSE: A walking robot system, a ground analyzing method of the walking robot system and a walking method are provided to increase the detection speed of surface information by only detecting the surface information from the contact section of surface and robot foot.;CONSTITUTION: A walking robot system(100) comprise a robot foot(110), a reaction force sensing unit(120), a torque sensing unit(130), a current sensing unit(140) and a controller(150). The robot foot walks in the surface. The reaction force sensing unit is installed at the sole unit of the robot foot. The torque sensor is installed to the joint unit of the robot foot. The torque sensing unit senses the torque which is acted on the joint unit in the walk of the robot foot. The current sensing unit is connected to the joint unit of the robot foot. The current sensing unit senses the change of the current value generated in the joint unit in the walk of the robot foot. The controller makes at least one between the analysis mode and the walk mode using the reaction force sensing unit, the torque sensing unit and the sensing value of the current sensing unit.;COPYRIGHT KIPO 2012