| 摘要 |
Provided is a lower limb structure for a legged robot with which actuator load for driving a knee joint can be reduced. A lower limb structure for a legged robot is provided with: a hip joint body (18); a thigh member (12a); a hip joint (22) for connecting the thigh member (12a) to the hip joint body (18); and a knee joint body (19) connected to the thigh member (12a). A thigh member auxiliary link (31) is provided which has one end thereof connected to the hip joint body (18) or the hip joint (22) so as to be capable of rotating around a pitching axis, and which has another end thereof connected to the knee joint body (19) so as to be capable of rotating around the pitching axis. A knee joint actuator (4) is used to extend and contract the length from one end to the other end of the thigh member auxiliary link (31). |
