| 摘要 |
PURPOSE: A surface recognition apparatus of a walking robot is provided to ensure stable walking of the robot even on an uneven surface because the foot sole parts contact close to the surface. CONSTITUTION: A surface recognition apparatus of a walking robot comprises bases(110), foot sole parts(120), switch boards(130), contactors(140), and elastic members(150). The bases are fixed to the bottom of robot legs, respectively. The foot sole parts are installed in the respective base and turned to contact the surface. The switch boards formed with a contact portion(131) on the bottom are installed in the robot legs. The contactors are continuously in contact with the contact portions of the switch boards when the foot sole parts contact the surface and turn upward. The elastic members are formed higher than the top of the contactors and elastically support the foot sole parts from the base to the bottom.
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