| 摘要 |
<p>A legged robot is provided whose trunk link is not prone to wobble in the front-back direction during walking. The legged robot (10) is equipped with a trunk link (12) and a pair of legs (20L, 20R). Each leg (20L, 20R) has a pitch joint (24L, 24R) capable of rotating the connected links in a plane that intersects with a line extending in a lateral direction of the robot. Rotation centers (24LP, 24RP) of the pitch joints are located above a center of gravity G of the trunk link. The legged robot walks mainly by swinging the legs backward and forward around such rotation centers. Hence, the trunk link (12) wobbles mainly in the front-back direction around the rotation centers as the robot walks. Because the center of gravity G of the trunk link (12) is located below the rotation centers, the gravitational force acting on the trunk link (12) acts in a direction to suppress swinging of the trunk link (12) during walking. Due to this, the trunk link (12) of the legged robot (10) is not prone to wobble in the front-back direction during walking.</p> |
