Wheeled moving robot

A wheeled moving robot comprising:

• a main body;
• wheels provided at least at opposite sides of the main body and configured to move the main body;
• an actuator configured to generate torque which rotates the wheels;
• a detector configured to detect whether the main body moves when the wheels rotates by the actuator;
• a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body towards a floor based as a detection result of the detector, and
• a controller configured to control the torque of the actuator and the auxiliary movement of the compensation unit according to the detection result of the detector,
• wherein
• the detector is configured to detect whether the main body moves based on a detection of rotation or a rotational speed of the wheels,
• the controller is configured to increase the torque of the actuator until the detector detects a movement of the main body, and
• the controller is configured to perform the auxiliary movement of the compensation unit, when the controller increases the torque of the actuator to a maximum and the detector fails to detect a movement of the main body.