| 摘要 |
PROBLEM TO BE SOLVED: To provide a quadruped walking robot capable of performing stable walking operation, even if a degree of freedom of a leg part is reduced, while reducing manufacturing cost and weight, by reducing the number of driving parts. SOLUTION: This quadruped walking robot 1 comprises a horizontally revolving part 4 revolvably arranged in the horizontal direction in a body part 2, a horizontal revolving driving part 5 for rotatingly driving the horizontally revolving part 4 in the horizontal direction, an upper side upper leg part 9 rotatably journaled in the vertical direction to the horizontally revolving part 4, a lower side upper leg part 11 arranged in substantially parallel to a lower part of the upper side upper leg part 9, an upper leg rotating driving part 10 for rotatingly driving the upper side upper leg part 9 in the vertical direction, a lower leg part 13 for vertically journaling a tip part of the upper side upper leg part 9 and a tip part of the lower side upper leg part 11 to an upper end part, a grounding part 17 arranged in a lower end part of the lower leg part 13, and an elastically expanding part 12 arranged in an intermediate part of the lower side upper leg part 11 and elastically expanding in the longitudinal direction. COPYRIGHT: (C)2005,JPO&NCIPI
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