| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg mechanism for a robotic device using a parallel quadric link preventing an object or a hand from being caught in a space surrounded by a drive joint, a driven joint, an inner connecting joint and an outer connecting joint of substantially parallel quadric link. SOLUTION: In the substantially parallel quadric link comprising four link members which are the drive joint 31, driven joint 32, inner connecting joint 33 and outer connecting joint 34 driven by a motor, at least one of the drive joint 31 and driven joint 32 is provided with side face protecting members 312, 322 for putting the space surrounded by the four link members of the approximately parallel quadric link, always in a covered state. COPYRIGHT: (C)2005,JPO&NCIPI
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