| 摘要 |
<p>In a legged mobile robot (10), each hip joint (18R, 18L) that connects a body (14) with a thigh link (16R, 16L) comprises a first rotary shaft (18RZ, 18LZ) that provides a degree of freedom to rotate about a yaw axis (Z axis), a second rotary shaft (18RX, 18LX) that provides a degree of freedom to rotate about a roll axis (X axis), and a third rotary shaft (18RY, 18LY) that provides a degree of freedom to rotate about a pitch axis (Y axis), and in addition thereto, a fourth rotary shaft (18RR, 18LR) that provides a redundant degree of freedom. Owing to this configuration, the amount of body (14) bending and the movable range of the legs (12R, 12L) can be increase</p> |
