| 摘要 |
PROBLEM TO BE SOLVED: To provide a turning device capable of straddling of lower limbs and turning of a drum in a bipedal walking robot.SOLUTION: A main gear 2 and a drum 1 are fastened to a position on which a trunk yaw shaft 3 as a rotation shaft of a bipedal walking robot upper limbs is set as a center, a left hip joint yaw shaft driving device 9 and a right hip joint yaw shaft driving device 8 which can rotate around the trunk yaw shaft 3 as a center are attached to the yaw shaft, a left hip joint yaw shaft driving gear 11 driven by the left hip joint yaw shaft driving device 9 is engaged with the main gear 2, a right hip joint yaw shaft driving gear 10 driven by the right hip joint yaw shaft driving device 8 is also installed so as to be engaged with the main gear 2, and an upper limb turning device of the bipedal walking robot which doubles two operations of an operation of straddling right and left respective lower limbs by means of right and left hip joint yaw shaft driving devices and a turning operation of the drum 1 caused by simultaneous actuation in the same direction of the right and left hip joint yaw shaft driving devices is provided.SELECTED DRAWING: Figure 1 |
