| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg type mobile robot capable of easily canceling the influence of the moment around a yaw axis to be applied to a machine body when working with legs such as walking. SOLUTION: Degree of freedom in relation to rotary shafts MOR and MOL around the yaw axis is added to right and left legs of the leg type moving robot 1. ZMP stabilization range is enlarged to ranges S0 and S1 outside of soles of the right and the left legs by the turning of the soles, and stability of the machine body when working with the legs is increased. Turning of the angles by the ankle yaw axis can turn the ankle around the yaw axis, restricting the inertia moment small, in comparison with the turning of the ankle shaft by driving a hip joint yaw axis.
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