| 摘要 |
A legged robot, wherein an electric motor (88) for driving a joint (10R) connecting an upper body to a leg part (2R) is disposed on a leg part side with an offset from the rotating axis of the joint provided thereto, and an opening part is provided in a motor storage case (86) for storing the electr ic motor (88) at a position facing the upper body, whereby the leg part of the robot can be easily attached and detached to increase the maintainability thereof, an access to a power transmission means for transmitting a drive force from a drive source to the joint connecting the upper body to the leg part can be easily gained, and a swing operation can be performed easily sin ce the leg part can be swung to any angle.
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