| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a legged robot capable of reducing the driving force of a drive source such as a motor when standing upright. <P>SOLUTION: The legged robot 10 includes a body 11, and legs 12 swingingly connected to the body 11. Each leg 12 has a thigh 12a, and a lower leg 12b connected to the thigh 12a through a knee joint 19, and is swung by motors 26a-26d and 31a-31d for walking. The leg 12 is provided with elastic members 34, 36 generating resilience to extend the bent leg 12, and assisting driving forces of the motors 26a-26d and 31a-31d when extending the leg 12. When the legged robot 10 stands upright, the thigh 12a and the lower leg 12b abut on a plate member 22 of the knee joint 19 rotatably connected to the thigh 12a and the lower leg 12b. The elastic members 34, 36 generate resilience to maintain the state of the thigh 12a and the lower leg 12b abutting on the plate member 22 of the knee joint 19. <P>COPYRIGHT: (C)2013,JPO&INPIT |
