| 摘要 |
PROBLEM TO BE SOLVED: To provide a ground contact part structure of a robot, in which flexibility of a sole part when a swing leg contacts with the ground, can be substantially increased, and rigidity during a stance leg and rigidity of the sole part immediately before a swing leg changing from the stance leg to the swing leg, can be substantially increased.SOLUTION: A ground contact part structure of a robot includes: an instep part 12 swingably provided on a lower end of a leg 2; and a sole part 14 fixed to a lower surface of the instep part 12 and contacting with the ground when the robot is moved. The sole part 14 includes: a flexible and airtight hollow bag 16 following unevenness 1a of a road surface 1; and a granular substance 18 which has the maximum diameter following the unevenness 1a of the road surface 1 and is filled into the hollow bag 16. Further, a pressure controller 20 for controlling a gas pressure inside the hollow bag 16 is provided. By the pressure controller 20, when a swing leg 2a contacts with the ground, the inside of the hollow bag 16 is communicated with the outside and the deformation resistance of the granular substance 18 is lowered to improve flexibility of the sole part 14. After contacted with the ground, until a stance leg 2b changes to the swing leg 2a, the inside of the hollow bag 16 is decompressed and a filling density of the granular substance 18 is increased to increase the rigidity of the sole part 14. |
