| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg structure of a walking robot with which a walking robot operator can make the waling robot take human-like walking motion by actuating an upper leg member, a lower leg member and a foot member, do so by a drive device as simple as possible and enjoy operating it. SOLUTION: The leg structure of the walking robot has the upper thigh member L1 having a link structure the upper part of which is pivotally supported on a waist structure, the lower thigh member L2 having a link structure the upper part of which is pivotally supported on the upper thigh member, the foot member L3 connected to a lower part of the lower thigh member through a joint and having a sole member L32 at least a part of which can change an angle sideway against the forwarding direction and a servo motor M1 having a servo hone L42 to rotate at a specified angle, one ends of a first rod L43 and a second rod L44 are mounted on the servo horn L42 of the servo motor M1 and the other ends of the first rod L43 and the second rod L44 are respectively mounted on a part of the upper thigh member L1 or the lower thigh member L2 and a part of the waist structure C.
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