| 摘要 |
A robot leg 125 comprises an upper link 101 and a lower link 111. The upper link 101 operates nominally in a first vertical plane about a hip joint, for example the sagittal plane, while the lower link 111 operates nominally in a second vertical plane, nominally orthogonal to the first plane, for example the coronal plane, about a knee joint. The leg 125 may also comprise a twist joint in the knee at 102b, 112a, and may comprise four-bar linkages 102a-h, 103a-d, 112a, b, 113a-d, such that the foot 106 stays parallel to the hip at 102a. A foot 106 may be attached to an ankle at 112b. The leg 125 may be used in a robot to allow the construction of a robot capable of three dimensional movement, using a small number of actuators per leg. Also disclosed are a servo housing (figs. 10 and 11) and a servo motor (figs. 12 and 13). |
