| 摘要 |
PROBLEM TO BE SOLVED: To achieve stable walking with balance of cross and lateral directions with a simple structure at low cost.SOLUTION: The two-legs walking robot 1 comprises; an upper body 2 having a lumber part 5; right-and left legs attached to the lumber part 5; feet 7a,7b attached to the legs respectively; and a controller 8 for controlling movement of the legs and feet 7a,7b. On the legs, feet movement means 10a, 10b for moving the feet 7a,7b toward a gravity direction are provided. The controller 8 controls the feet movement means 10a, 10b to move the foot which is lifted up during walking toward a gravity direction. |
