| 摘要 |
PROBLEM TO BE SOLVED: To provide technique for freely rotating an end side member substantially completely. SOLUTION: A robot has a leg part 216, a foot part 218 rotatably connected to the leg part 216, two wires 266a, 266b attached to the foot part 218, actuators 268a, 268b for extending and contracting the respective wires 266a, 266b, and a controller 300 for controlling the respective actuators 268a, 268b. The robot rotates the foot part 218 counterclockwise by extending the wire 266a and contracting the wire 266b, and rotates the foot part 218 clockwise by contracting the wire 266a and extending the wire 266b. The controller 300 controls the respective actuators 268a, 268b so that a loosened state of the respective wires 266a, 266b is maintained when the foot part 218 of a free leg comes into contact with the ground. COPYRIGHT: (C)2005,JPO&NCIPI
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