| 摘要 |
PROBLEM TO BE SOLVED: To enable inputting a switch at a leg tip in the natural form and reduce a shock applied when walking. SOLUTION: In a leg part in which a thigh part 150a and a shin part 150b are mutually connected by a revolute joint part 151 and a paw switch is connected with a tip of the shin part 150b, a leg tip structural member turns by converting a force F applied when the leg part comes into contact with the ground into moment M and converting a force f generated when a person shakes hands with a robot device into moment m. At this time, an elastic member turns together with the leg tip structural member, and the switch is pressed by the elastic member. The leg tip structural member rotates by giving a force below withstand load to the switch by the elastic member from the time when a stroke of the switch is used up to the time when the leg tip structural member abuts on a limit member limiting the turn.
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