| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg type mobile robot which effectively discharges and removes static electricity charged on its feet. SOLUTION: The leg type mobile robot is equipped with at least a base body, two legs, feet 22 connected with the respective tip ends through ankles, an electric motor 20 which is disposed between the feet 22 and the leg parts and drives the ankles, and a six-axis force sensor 56 which is disposed between the feet and the legs, and detects floor reaction force acting from the floor surface F to which the feet are ground, and equipped with a buffer member 224 buffering the shock when grounding to the floor surface on the feet 22, and a conductive member 226 on the buffer member 224 of the feet 22. COPYRIGHT: (C)2006,JPO&NCIPI
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