A robot cleaner comprising: a first detector configured to generate a wall detection signal by detecting a wall; a second detector comprising a plurality of rotation units, a first sensor configured to generate a first contact signal through contact of the plurality of rotation units with the wall and a second sensor configured to generate a second contact signal; a cleaner main body in which the first and second detectors are disposed and which includes a driver configured to drive on a surface to be cleaned; wherein the plurality of rotation units being elastically hinge-coupled to the cleaner main body and disposed to protrude more than an outer circumference of the cleaner main body, and a controller which is mounted on the cleaner main body and to which the first and second detectors and the driver are electrically coupled, characterized in that the controller controls the driver so that the robot cleaner moving to one direction moves along the wall based on the wall detection signal, the robot cleaner rotates to a first rotational direction with a fixed angular velocity, the first rotational direction being a clockwise direction or a counterclockwise direction, to be in contact with the wall in response to the first contact signal not being generated within a preset time, the robot cleaner, while moving, rotates to a second rotational direction opposite to the first rotational direction with a first angular velocity to be spaced from the wall in response to the first contact signal generated by the second detector, wherein the second sensor is configured to generate the second contact signal by detecting the plurality of rotation units rotated toward an inside of the cleaner main body by a preset angle after the first contact signal is generated, and the robot cleaner, while moving, rotates to the second rotational direction with a second angular velocity greater than the first angular velocity to be spaced from the wall in response to the first contact signal and the second contact signal being generated by the second detector within the preset time, and wherein the first angular velocity is set so as to as to maintain the contact with the wall for a predetermined amount of time or a maximum long time. a first detector configured to generate a wall detection signal by detecting a wall; a second detector comprising a plurality of rotation units, a first sensor configured to generate a first contact signal through contact of the plurality of rotation units with the wall and a second sensor configured to generate a second contact signal; a cleaner main body in which the first and second detectors are disposed and which includes a driver configured to drive on a surface to be cleaned; wherein the plurality of rotation units being elastically hinge-coupled to the cleaner main body and disposed to protrude more than an outer circumference of the cleaner main body, and a controller which is mounted on the cleaner main body and to which the first and second detectors and the driver are electrically coupled, characterized in that the controller controls the driver so that the robot cleaner moving to one direction moves along the wall based on the wall detection signal, the robot cleaner rotates to a first rotational direction with a fixed angular velocity, the first rotational direction being a clockwise direction or a counterclockwise direction, to be in contact with the wall in response to the first contact signal not being generated within a preset time, the robot cleaner, while moving, rotates to a second rotational direction opposite to the first rotational direction with a first angular velocity to be spaced from the wall in response to the first contact signal generated by the second detector, wherein the second sensor is configured to generate the second contact signal by detecting the plurality of rotation units rotated toward an inside of the cleaner main body by a preset angle after the first contact signal is generated, and the robot cleaner, while moving, rotates to the second rotational direction with a second angular velocity greater than the first angular velocity to be spaced from the wall in response to the first contact signal and the second contact signal being generated by the second detector within the preset time, and wherein the first angular velocity is set so as to as to maintain the contact with the wall for a predetermined amount of time or a maximum long time.