| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a leg type mobile robot capable of increasing a knee joint angle excellent in drive control performance. <P>SOLUTION: The robot 1 includes a leg body 2 having a knee joint 16 for connecting an upper thigh link 32 with a lower thigh link 34. The knee joint 16 includes a connecting rod 44 with one end rotatably connected to the shaft 40 of the lower thigh link 34 and the other end rotatably connected to the shaft 42 of the upper thigh link 32, and a distance fluctuating mechanism 50 for varying a distance between the shaft 60 of the lower thigh link 34 and the shaft 56 of the upper thigh link 32 by a drive force of an electric motor 40. When a bending angle of the knee joint 16 is at a 0-degree, the sum of the distance between the shaft 40 and the shaft 42, and the distance between the shaft 60 and the shaft 56 is smaller than a distance between the shaft 40 and the shaft 56. <P>COPYRIGHT: (C)2012,JPO&INPIT |
