| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg part mechanism for a robot device by which walking similar to the movement of legs when a human walks can be executed and walking by getting over a high obstacle can be executed. SOLUTION: The leg part mechanism for a robot device has upper thigh link mechanisms 16, 20, which form an upper thigh part, lower thigh link mechanisms 31, 32, which are connected freely rotatably to the lower end side of the upper thigh link mechanism 20 and form a lower thigh part, a leg tip member 40, which is connected freely rotatably to the lower end side of the lower thigh link mechanisms 31, 32 and forms a leg tip part, and a support body 11 which supports driving mechanisms 12, 13, and 14 including one motor 12, supports the upper end side of the upper thigh link mechanism 20 so as to be capable of displacing, and supports the upper end side of the lower thigh link mechanisms 31, 32 so as to be capable of displacing. The upper thigh link mechanism 20 is connected with the driving mechanism 14. The driving mechanism 12 drives the upper thigh link mechanism 20. Then, irregular elliptical movements are generated to the lower end sides 33, 34 of the upper thigh link mechanism 20. The lower thigh link mechanisms 31, 32, which are interlocked with the movements, amplify the irregular elliptical movements and transmit the movements to the leg tip member 40. As a result, the walking operation similar to that of a human is executed with the upper thigh part, the lower thigh part, and the leg tip. COPYRIGHT: (C)2005,JPO&NCIPI
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