Patent ID: 7756605

Claim:
A floor reaction force detector of a legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint, for detecting the floor reaction force acting from a floor surface through a contact end of each foot connected to a distal end of each of the legs through a second joint, wherein the improvement comprises: the floor reaction force detector is installed between the second joint and the contact end of the foot, and one end of the floor reaction force detector is connected at a location near the second joint, and the contact end of the foot or thereabout is constituted by a first member that is lower in rigidity than a second member constituting the second joint or thereabout, such that other end of the floor reaction force detector is connected to the first member having the lower rigidity, wherein the first member having the lower rigidity comprises a spring mechanism, and the floor reaction force detector is connected to the contact end of the foot through the spring mechanism, wherein the spring mechanism includes at least two of elastic members and a concave frame, and the floor reaction force detector is attached to the concave frame with a lower portion of the floor reaction force detector being inserted in a recess of the concave frame wherein an insulator is disposed around the floor reaction force detector wherein the insulator comprises a first insulator member and a second insulator member, and wherein the first insulator member is disposed above the floor reaction force detector, and the second insulator member is disposed between the concave frame and the floor reaction force detector.