| 摘要 |
<p>A legged robot is provided that is capable of reducing the driving force required of a drive source such as a motor when the robot is upright. The legged robot (10) has a body section (11) and leg sections (12) that are pivotally connected to the body section (11). The leg sections (12) have thigh sections (12a) and lower leg sections (12b) that are connected to the thigh sections (12a) via knee joints (19), and the robot moves forward by pivoting the leg sections (12) by means of motors (26a)-(26d) and (31a)-(31d). Elastic members (34) and (36) are provided to the leg sections (12) to supplement the driving forces of the motors (26a)-(26d) and (31a-31d) when the leg sections (12) are being extended by generating elastic force so that the bent leg sections (12) extend. When the legged robot (10) stands upright, the thigh sections (12a) and the lower leg sections (12b) are in contact with plate members (22) of the knee joints (19) that are rotatably connected to the thigh sections (12a) and the lower leg sections (12b). The elastic members (34) and (36) generate elastic force so that the thigh sections (12a) and the lower leg sections (12b) rest in contact with the plate members (22) of the knee joints (19).</p> |
