| 摘要 |
<p>A leg type movable robot (10) comprises motors (42) for rotating ankle joints (26R, 26L) around the left and right shafts (26RY, 26LY) of the robot, and speed reduction units (58) for reducing the output speed of the motors, wherein the motors are disposed at the same position as knee joints (22R, 22L) or in femoral links (16R, 16L), while the speed reduction units are disposed in crural links (20R, 20L). Thereby, the weight on the terminal side of the legs (12R, 12L) can be reduced; thus, the inertial force produced in the legs during movement of the robot can be reduced.</p> |
