| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot joint device capable of maintaining the joint angle at a predetermined attitude angle by an urging means, and reducing the energy consumption. SOLUTION: This robot joint device having a joint part 15 with a thigh link 17 and a shin link 18 coupled with each other in a relatively rotatable manner comprises a spring 33 as the urging means which puts the joint part 15 into rotation by supplying the energy therein from the outside, and urges the thigh link 17 and the shin link 15 so that the attitude angle at the joint part 15 reaches the desired value.
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