| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a legged mobile robot capable of making a thigh region small by maintaining a low inertia, and widening the movable range of an ankle joint. <P>SOLUTION: The legged mobile robot As is provided with a leg body having a leg region 10 connected to the lower end of the thigh region 100 via a knee joint, a foot region 30 connected to the lower end of the leg region via an ankle joint 20, and a rocking mechanism 1 for rocking the ankle joint provided in the leg part 10. The rocking mechanism has a driving motor M-driving pulley 2 provided in a support frame 15 in the exterior of the leg region, a driven pulley 4, a rocker arm 5 provided in the driven pulley 4, and a rod 7 provided in the rocker arm 5. The driven pulley is arranged above the driving pulley. The upper end of the rod is turnably connected to the rocker arm of the driven pulley, and the lower end of the rod is turnably connected to the rocking fulcrum position where the ankle joint is rocked. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
