US Patent 10926409 Systems and methods for controlling walking robots

In one embodiment, a walking robot includes a robot body, multiple legs attached to and extending from the body, at least one leg including a pivot joint having an initial zero position and a foot that is adapted to contact a ground surface, wherein force applied to the foot because of contact with the ground causes the leg to pivot about the pivot joint, and an angular position sensor associated with the pivot joint and configured to measure a pivot angle through which the leg has pivoted about the pivot joint, the angle being related to the force applied to the foot.