| 摘要 |
PROBLEM TO BE SOLVED: To provide a four-legged walking robot for safely walking while accurately landing at a grounding point on a flat surface and an inclined surface such as a slope. SOLUTION: The four-legged walking robot has front, rear, right and left legs provided with booms and arms on front, rear, right and left portions of a vehicle body. It comprises ankle members fixed to front ends of the arms of the front, rear, right and left foots and having spherical lower ends, and a leg end member composed of a leg seat rotatably mounted to a spherical portion of the ankle member for landing on the ground surface and a resistance imparting member mounted between the spherical portion of the ankle member and the leg seat for preventing the automatic rotation of the leg seat with its dead weight. COPYRIGHT: (C)2006,JPO&NCIPI
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