| 摘要 |
PROBLEM TO BE SOLVED: To provide a light quadruped walking robot to be operated by a small energy consumption and capable of stably walking on an irregular ground with a degree of freedom as small as possible. SOLUTION: This quadruped walking robot is formed of a body 1 having a revolute pairγof active joints and a pair of leg parts connected to both ends of the body through direct acting pairsαandβof active joints. A rotary pair of driving system of a fore and aft directional axis is provided at a central part of the body so as to select idle legs and adjust the height of the idle legs with the operation for twisting a front part and a rear part of the body. Two front legs and two rear legs are formed into a pair for unifying, and each central part is connected to the body with the passive revolute pair of the vertical shaft. This connection part is connected to the body for drive with the translation pair in the fore and aft direction so as to realize the movement of the idle leg in the fore and aft direction and the movement of the center of gravity in the fore and aft direction.
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