LOWER LIMB STRUCTURE FOR LEGGED ROBOT, AND LEGGED ROBOT

摘要

Provided is a lower limb structure for a legged robot with which a load on an actuator for driving a knee joint can be reduced. The lower limb structure for the legged robot comprises: a hip joint main body; a thigh portion; a hip joint coupling for connecting the thigh portion to the hip joint main body; and a knee joint main body joined to the thigh portion. The lower limb structure for the legged robot provides a thigh portion auxiliary link having one end portion joined to the hip joint main body or the hip joint coupling to be rotatable about a pitch axis and the other end portion joined to the knee joint main body to be rotatable about the pitch axis. A knee joint actuator increases and decreases a length from the one end portion to the other end portion of the thigh portion auxiliary link.

主权项

1. A lower limb structure for a legged robot comprising:
a hip joint main body; a thigh portion; a hip joint coupling for joining the thigh portion to the hip joint main body so that the thigh portion is rotatable at least about a pitch axis; a knee joint main body joined to the thigh portion to be rotatable about the pitch axis; a thigh portion auxiliary link having one end portion joined to the hip joint main body or the hip joint coupling to be rotatable about the pitch axis and the other end portion joined to the knee joint main body to be rotatable about the pitch axis; and a knee joint actuator for increasing and decreasing a length from the one end portion to the other end portion of the thigh portion auxiliary link.