| 摘要 |
<p>Provided is a bipedal walking robot which includes a linear (translatory) actuator (12 4 ), which connects a crus link (9) and a foot (11) of each leg (2) away from an ankle joint (10), for driving the foot (11) to rock around the ankle joint (10) with respect to the crus link (9) according to a telescopic motion thereof. The robot is capable of applying a desired moment to the foot (11) for walking on stairs without increasing the linear (translatory) actuator (12 4 ) in size. The linear (translatory) actuator (12 4 ) is disposed in such a way that a telescopic force therefrom acts on a line (L2) inclined backward with respect to a connection line (L1) connecting a knee joint (8) and the ankle joint (10). Preferably, a connection portion (Y3a), which is connected to the crus link (9), of the linear (translatory) actuator (12 4 ) is disposed backward than the connection line (L1), and a connection portion (Y3b), which is connected to the foot (11), of the linear (translatory) actuator (12 4 ) is disposed forward than the connection line (L1).</p> |
