| 摘要 |
A legged mobile robot (10) has hip joints (18R, 18L) connecting an upper body (14) and upper leg links (16R, 16L) has first rotation axes (18RZ, 18LZ) forming a degree of freedom about a yaw axis (Z axis), second rotation axes (18RX, 18LX) forming a degree of freedom about a roll axis (X axis), third rotation axes (18RY, 18LY) forming a degree of freedom about a pitch axis (Y axis), and fourth rotation axes (18RR, 18LR) for forming a redundant degree of freedom. The structure above can increase the amount of bending of the upper body (14) and a movable range of legs (12R, 12L), so that degrees of freedom in a posture and gait of the robot can be improved.
|
