| 摘要 |
PROBLEM TO BE SOLVED: To provide a bipedal walking robot keeping its balance even at the attitude for bending and stretching its body and bending its knee joint. SOLUTION: A main body of a motor 20 is connected with a first knee part pulley 12 turning integrally with a thigh link 10, and a motor shaft 201 is connected with a second knee part pulley 17 turning integrally with a crus link 15. A ratio of diameter of the first knee part pulley 12 to an ankle part pulley 13 provided in an ankle joint part 5 is 1 to 2, and a belt 14 is wound around them. A ratio of diameter of the second knee part pulley 17 to a hip part pulley 18 provided in a hip part 3, is also 1 to 2, and a belt 19 is wound around them. When the motor 20 is operated, and the relation of relative rotation position between both links 10 and 15 is changed, the hip part 3 is turned in the interlocking relationship with the turn of the hip part 3 and the ankle joint part 5, and foot parts 6 and a trunk part 1 are operated to approach each other while keeping the same attitude for each other. For this reason, the trunk part 1 descends while keeping the upright attitude even when the robot bends its knee on a floor surface, and the center of gravity by the trunk part 1 acts substantially vertically and downward to prevent the loss of its balance. COPYRIGHT: (C)2008,JPO&INPIT
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