| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg type mobile robot, expanding a landing enabling range of an idling leg.SOLUTION: This robot 1 includes: an upper body 4; a hip joint joining the upper body 4 to an upper thigh links 30R (L), 32R (L); a knee joint joining the upper thigh links 30R (L), 32R (L) to a lower thigh link 34R (L); and an ankle joint joining the lower thigh link 34R (L) to a foot 22R (L). Accordingly, the robot 1 has two leg bodies 2R, 2L formed bilaterally symmetric and moves by driving the leg bodies 2R, 2L. The hip joint has a hip joint yawing shaft part 10R (L) rotating in the yawing direction, and when the robot 1 advances linearly, the rotating angle in the yawing direction of a first upper thigh link 30R (L) to the upper body 4 is set in the hip joint yawing shaft part 10R (L) so that the upper thigh links 30R (L), 32R (L) of the leg body 2R (L) serving as a support leg direct ahead obliquely outward with respect to the upper body 4. |
