| 摘要 |
PROBLEM TO BE SOLVED: To provide a structure of legs of a biped robot, which structure is excellent in the convergency of the actual ZMP in landing a heel portion, and can smoothly move the actual ZMP forward with the progress of the landing motion. SOLUTION: The structure of the legs of the biped robot comprises soles 16c having a toe portion 1 and a heel portion 41. The intermediate portion 42 located between a toe portion 1 and the heel portion 41 is widely formed such that the grounding area continuously increases with the distance from the heel portion toward the toe portion. By this configuration, the convergency of the actual ZMP in landing the heel portion 41 becomes excellent, and the actual ZMP can be smoothly moved forward with the progress of the landing motion. COPYRIGHT: (C)2008,JPO&INPIT
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