| 摘要 |
PURPOSE:To make that whether a grounding state of a robot is possible to continue its stable walking motion or not detectable, by installing a contact sensor, which detects the grounding to each walking surface, in both front and rear ends in each sole of the walking robot and an intermediate position of these front and rear ends either. CONSTITUTION:At a sole 10 oe a bottom surface of each leg body 2, there are provided with three contact sensors 11-13 detecting whether it grounds a walking surface or not. If the contact sensor 11 at a front end and the contact sensor 13 at an intermediate position both operate, a fact that the front side of the sole is grounded in a state of stably supporting a machine body is detected, and if the contact sensor 12 at the rear end and the contact sensor 13 at the intermediate position both operate, a fact that the rear side of the sole is grounded in a state of stably supporting the machine body is made so as to be detected in design. |
