LEG-TYPE MOVING ROBOT AND FLOOR REACTION FORCE DETECTION DEVICE THEREFOR

摘要

A leg-type moving robot (1), wherein an elastic element (382) is arranged between a second joint (18, 20) linking the tip end of a leg unit (2) with a foot unit (22) and a ground-contact end of the foot unit, and a displacement sensor (70) is arranged in a space defined by the upper and lower ends of the elastic element, whereby it is possible to compactly house the displacement sensor including constituent elements such as a conversion unit in the foot-unit elastic element of the spatially-restricted leg-type moving robot. The redundant degree of freedom of the displacement sensor is used to self-diagnose its abnormality. In addition, a floor reaction force accurately detected can let the leg-type moving robot walk further more constantly.