| 摘要 |
PROBLEM TO BE SOLVED: To provide a lightweight and easily-operable humanoid leg structure having a simple structure, which is suitable for robot use or for an artificial leg for a handicapped person or the like.SOLUTION: A humanoid leg structure having a simple structure includes: a plurality of toe mechanisms in which, when a tractive force is applied in one direction, a plurality of toe plates connected mutually rotatably are rotated and bent to form a proper contact shape on the ground; and an instep driving mechanism in which, when a tractive force is applied in one direction to the plurality of toe mechanisms, a tractive force is applied to an instep part constituted of an instep rod to which each of the plurality of toe mechanisms is joined, to thereby bring about stable contact onto the ground. |
