An angular velocity estimator using driving force and a robot including the same

The present invention relates to a robot including an angular velocity estimation apparatus and with it the driving force. The angular velocity estimator by a driving force according to the present invention, actuator 100 for generating a driving force; The power transmission apparatus 200 for transmitting the driving force generated by the actuator 100 to the drive apparatus 400; And the linear velocity by receiving a driving force from the power transmitting apparatus 200 ( ) Vibration, and to generate the line speed ( ) The Coriolis force generated by the ( ) The measured angular velocity ( Includes;), the angular velocity estimator 300 for estimating. According to the invention, so as to become robust against the external malicious attacks, such as sound waves using a resonance frequency of the conventional gyro sensor, it is possible to obtain a linear velocity to generate the Coriolis force. Further, even if the extra power for the resonance acceleration measuring device is supplied it can operate. Further, when the robot is stopped or standby state, it is possible to reduce unnecessary power consumption since it does not resonate the acceleration measuring device.