| 摘要 |
The purpose of the present invention is to provide a mobile body that while having a simple mechanism can easily overcome a grade difference without losing balance in the left-right direction. The present invention has the following: left-right leg parts attached to the lower portion of a body part; a first link connected to the body part and rotatable in the pitch direction; a second link rotatably connected in the pitch direction to the length-direction reverse end of the first link; a mechanical limit that determines the relative motion range of the first link and the second link; and a movement means provided to the reverse end of the connection of the second link to the first link. Also provided are the following: a first actuator attached to the first link and having a rotation axis in the pitch direction; a third link which is driven by the first actuator; a fourth link attached, so as to be rotatable in the pitch direction, to the length direction reverse end of the connection of the third link to the first actuator, and in which the reverse end is attached to the second link so as to be rotatable in the pitch direction; and a spring means that accumulates elastic energy from the relative motion of the first link and the second link in a space therebetween. |
