| 摘要 |
PROBLEM TO BE SOLVED: To provide an assembly structure of a movable leg capable of attaching a revolute joint part simply. SOLUTION: A front foot shoulder actuator part is composed of an upper actuator structural body and a female type fitting part, and a front foot elbow actuator part is composed of a lower actuator structural body and a lower actuator output end having a male type fitting shape. The lower actuator output end and the female type fitting part form a female and male fitting shape. The lower actuator output end is inserted into the female type fitting part through a damper. The damper is inserted into a clearance between the lower actuator output end and the female type fitting part to absorb a shock load received by a foot tip and facilitate the assembly.
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