| 摘要 |
PURPOSE: A birdlike robot is provided to reduce a load of each actuator by delivering a driving force of the actuator to a second joint unit and a third joint unit through a tendon structure. CONSTITUTION: A birdlike robot includes a leg module (10). The leg module is installed in a body unit and performs a biped walking or swimming. The leg module includes a first leg (20), a first joint unit (30), a second leg (40), a second joint unit (50), a foot unit (60), and a third joint unit (70). The first leg dually rotates relative to the body unit. The first joint unit is arranged between the first leg and the body unit and supplies the dual rotation to the first leg. The second leg is connected to the first leg and rotates forwards and backwards. The second joint unit is arranged between the first leg and the second leg and supplies a rotational movement to the second leg. The foot unit is connected to the second joint unit and supports the ground or supplies a driving force in the swimming. The third joint unit is arranged between the foot unit and the second joint unit to be rotated to left and right sides or forward and backward directions. |
