Biped robot external thrust detection device and detection method thereof

The invention discloses a biped robot external thrust detection device and a detection method thereof, which can be used for artificially and randomly manufacturing single-point biped robot external thrust instead of sensing the external thrust by a multi-point sensor of a robot. The device combines pose information of the detection device, pose information of the biped robot and model information of the detection device and the biped robot to detect acting force information of the biped robot in a distributed mode, the acting force information is transmitted to the main control system in real time, and a man-machine system of the device displays the external thrust condition in real time in a 3D mode. According to the method, the building cost of a biped robot sensing system is reduced, the verification work of a core control algorithm is started more quickly, and the project convergence period is shortened. The distributed design of the detection method reduces occupation of resources of the main control sy