| 摘要 |
PROBLEM TO BE SOLVED: To provide a bipedal waling robot capable of walking despite an obstacle and a slope.SOLUTION: A pair of leg parts 5 coupled to a waist part 2 supporting an upper body 1 are provided with femoral parts 9, shank part 11 and foot part 14. A plurality of rotating members 21 provided with grounding parts 21c formed on both sides of the foot part 14 are disposed movably and rotatably over a predetermined range in the direction of the waist part 2. A part 21a of the rotating member 21 is extended toward the waist part, an end of the part is provided with an engaging part 21f, and the foot part 14 is provided with an engaged part 18b which engages with the engaging part 21f. When the foot part 14 is lifted from the ground 25, the engaging part 21f and the engaged part 18b are disengaged to rotate the rotating member 21. When the foot part is lowered onto the ground 25, the rotating members 21 is rotated according to a condition of the ground 25. The engaging part 21f and the engaged part 18b are then engaged to prohibit rotation of the rotating member 21. |
