| 摘要 |
PURPOSE: A foot structure for a humanoid robot is provided to maintain the balance of a foot without an electric motor even when the foot does not fully contact with an uneven road. CONSTITUTION: A foot structure for a humanoid robot(100) comprises a foot top part and an underfoot part. The foot top part is mounted on an ankle joint part. An upper recessed portion protruding upwardly is formed on the bottom of the foot top part. A lower recessed portion protruding downwardly faces the upper recessed portion, and formed on the underfoot part. A ball(2f) is rotationally inserted in between the upper and lower recessed portions. The balance of the foot is maintained without horizontal deformation as a plurality of springs(2c) is placed in between the rim of the foot top part and underfoot part.
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