To provide a legged robot which is suitable for reducing the computation load for grasping the installation cost of a force sensor and the ground contact status of a leg part using the force sensor, suitable for the posture control, and suitable for enhancing the recognition accuracy when recognizing an object by a two-dimensional distance measuring device using a distance measuring sensor.
The legged wheel type robot 100 comprises a base body 10, a plurality of leg parts 12 connected the base body 10 with the degree of versatility, a driving wheel 20 provided rotatably on a tip of each leg part 12, and a distance measuring sensor 212a for measuring the distance to a point of measurement on an object by using the Hough transformation. A link closest to the leg tip out of the links of the leg part 12 comprises an upper link 80 having a flat face 81 on one end, and a lower link 85 having a flat face 86 on one end. Force sensors 82 are respectively installed on four corners of the flat face 81, and one ends of the upper link 80 and the lower link 85 are connected to each other so that the flat faces 81, 86 are brought into surface contact with each other when the floor reaction force is applied.
Yoshiaki Naito
Cui Shu Tetsu