| 摘要 |
PROBLEM TO BE SOLVED: To provide the leg structure of a mobile robot for easily and stably going up and down the stairs or the like while simplifying the constitution of a driving device for driving the legs of the mobile robot moving with a plurality of legs, and miniaturizing the driving device by effectively using the driving force of the driving device for driving the legs. SOLUTION: Feet 38 are mounted to the legs 11, 13 through ankle shafts 49, and wheels 39a, 39b are mounted to the feet 38 through axles 40. An actuator 52 capable of driving the ankle shaft 49 and axle 40 is provided, and the foot 38 is provided with a wheel restraining means 56 capable of restraining the rotation of the wheels 39a, 39b. COPYRIGHT: (C)2005,JPO&NCIPI
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