| 摘要 |
PROBLEM TO BE SOLVED: To ensure high-speed movement without an increase in size of a joint actuator. SOLUTION: At least one of joint actuators forming a movable leg is provided with a driving force assist mechanism for applying auxiliary driving force thereto. An operation of the driving force assist mechanism can produce high torque and high moving speed necessary for high-speed walking, running and leaping. During movement such as normal walking requiring no high torque, the driving force assist mechanism is abated to assure a long life of the joint actuators and energy saving. The use of the driving force assist mechanism can assure high-torque and high-speed characteristics with a small size and low cost kept intact.
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