| 摘要 |
A biped robot capable of facilitating a kinetic analysis and realizing the more satisfactory control of all kinetic systems by the initialization of a complex coordinate system, wherein a base body (6) is connected to a leg part (5) through a first joint part (7), a first link (3), a second joint part (8), a second link (4), and a third joint part (9), the rigidity of the first link (3) is lower than that of the base body (6) and the rigidity of the second link (4) is lower than that of the second link (4) to allow the highly accurate positioning of the second link (4) and the leg part (5) relative to a mechanical origin set on the base body, and a handle (13) is connected to the base body (6) at two points, whereby, when the attitude of the entire robot is initialized with respect to the mechanical origin, the gravity center (G) of the entire robot is present between two vertical planes including these two points and, since the first joint part (7), second joint part (8), and third joint part (9) are present between the two vertical planes during the initialization, the total balance of the robot can be kept and the origin can be aligned easily.
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