STRUCTURE OF ROBOT JOINT AND ROBOT HAVING THE SAME

摘要

Disclosed are a robot joint driving device which conducts motions similar to those of humans, and a robot having the same. These motions are achieved by arranging joint driving devices suited to characteristics of respective joints. The robot joint driving device comprises: a tendon-type joint driving device using a wire; and a harmonic drive-type joint driving device using a gear reduction method. The tendon-type joint driving device is used to drive a rotary joint requiring high back-drivability, and the harmonic drive-type joint driving device is used to drive a rotary joint requiring high rigidity and high precision.