Robot and method of controlling the same

A robot comprising:

• an angle sensing unit to sense a bending angle of a joint of the robot due to external force;
• and
• a control unit to confirm whether or not the bending angle of the joint reaches an allowable safety angle, and to secure a redundant degree of freedom of a higher-level joint of the joint to rotate the higher-level joint in the direction of reducing the bending angle of the joint, when the bending angle of the joint reaches the allowable safety angle.

A robot comprising:

• a torque sensing unit to sense a torque applied to a joint of the robot;
• and
• a control unit to confirm whether or not the torque applied to the joint reaches an allowable safety torque, and to secure a redundant degree of freedom of a higher-level joint of the joint to rotate the higher-level joint in the direction of reducing the torque applied to the joint, when the torque applied to the joint reaches the allowable safety torque.