Ground reaction force measuring module for walking robot and robot foot structure adopting the same

A robot foot structure comprising:

• a robot foot;
• and
• a plurality of ground reaction force measuring modules installed at predetermined portions of the robot foot facing the ground, the ground reaction force measuring modules including a housing installed at a predetermined portion of a walking robot facing the ground, a moving unit capable of moving with respect to the housing according to the presence of a pressing force to the ground transferred to the walking robot, and a compression sensor installed in the housing to measure a reaction force of the ground from the presence of the pressing force transferred through the moving unit,
• wherein the ground reaction force measuring modules are arranged to independently measure a ground reaction force with respect to the portion where each of the ground reaction force measuring modules is installed, and
• wherein the housing comprises a compression sensor holder including an accommodation portion in which the compression sensor is accommodated and a through hole connecting the accommodation portion and the outside and a cover member coupled to the housing above the accommodation portion.

A robot foot structure comprising:

• a robot foot;
• and
• a plurality of ground reaction force measuring modules installed at predetermined portions of the robot foot facing the ground, the ground reaction force measuring modules including a housing installed at a predetermined portion of a walking robot facing the ground, a moving unit capable of moving with respect to the housing according to the presence of a pressing force to the ground transferred to the walking robot, and a compression sensor installed in the housing to measure a reaction force of the ground from the presence of the pressing force transferred through the moving unit,
• wherein the ground reaction force measuring modules are arranged to interact with one another with respect to ground reaction forces measured by the respective portions where the ground reaction force measuring modules are installed, and
• wherein the housing comprises a compression sensor holder including an accommodation portion in which the compression sensor is accommodated and a through hole connecting the accommodation portion and the outside and a cover member coupled to the housing above the accommodation portion.