| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg type robot which is easily balanced by a standing leg when the robot stands on one leg and is inclined to a free leg side. SOLUTION: In the leg type robot 10, when a sole surface 30 of one foot link 20 makes a front view of the leg type robot, an edge part 31 on the side close to the center line CL of the leg type robot 10 on the sole surface of each foot link 20 is curved in an arc shape toward an inner surface from the sole surface 30. When the leg type robot 10 is grounded with one leg, and inclined inward of the standing leg, a contact of the sole surface of the grounded foot with the ground is moved inwardly. As the contact is moved inwardly, the moment for inclining the leg type robot 10 inwardly becomes smaller. The leg type robot 10 is easily balanced since the contact between the sole surface and the ground is moved inward of the leg type robot according to the inclination to the inward side. COPYRIGHT: (C)2010,JPO&INPIT
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