| 摘要 |
PROBLEM TO BE SOLVED: To provide a legged robot by which a mechanism using parallel linkage can be achieved, and as a result, an actuator load can be reduced even if legs are connected to a hip joint body via a joint having two degrees in freedom.SOLUTION: A hip joint 22 is provided which can rotate around a rolling axis 22a1 of a hip joint body 18, and can rotate around a pitching axis 22a2 of a thigh member 12a. One end of an auxiliary link 31 which configures a parallel linkage mechanism 41 is connected to the hip joint 22 so as to be capable of rotating around the pitching axis. |
