| 摘要 |
The present invention provides a legged robot which legs (15) are actuated by means of linear actuators (16r, 16a, 161) capable of applying leg movement within three allowable degrees of freedom (Ml, M2, M3), wherein each of the robot's legs is actuated by means of three linear actuators and wherein the robot's leg is constructed from a first linear actuator (161) attached to the body of the robot by means of a joint (17u) capable of providing two degrees of freedom to said leg, and wherein the second and third linear actuators (16q, 16a) are attached to said leg at points situated more or less at the same level along its length in selected angular positions with respect thereto, such that it may be moved within the two degrees of freedom (M2, M3) provided by the joint. |
