| 摘要 |
PROBLEM TO BE SOLVED: To provide a biped walking robot capable of turning along a curve smoothly with high circle mobility without taking a useless route.SOLUTION: A robot includes: a trunk; a first leg and a second leg provided on respective sides of the trunk; a drive part for walking which drives the first and second legs to perform walking motion; and a drive part for steering, which changes angles of the first and second legs, respectively. The problem is solved so that biped walking with high circle mobility can be achieved by performing the walking motion while changing respective angles of the first and second legs. |
