| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg type mobile robot improved in moving performance to an advancing direction without increasing the power of actuators. SOLUTION: In this leg type mobile robot 10, the actuators provided in a plurality of joints at legs, respectively are driven and operated around rocking shafts to perform walking action. Out of the plurality of the joints, for example, the rocking shafts of the waist roll joints 42 are arranged at an angle of 45°from the front direction of the leg type mobile robot 10, and the rocking shafts of the waist pitch joints 43 are arranged at an angle of 45°from the front direction of the leg type mobile robot 10. COPYRIGHT: (C)2008,JPO&INPIT
|
