| 摘要 |
PROBLEM TO BE SOLVED: To provide a human type robot compactly constructed with using a parallel mechanism excellent in mobility as a waist part motion actuator. SOLUTION: Three linear actuators 13 are swingably connected in parallel between a support stand 7 and a waist part frame 12, and a center tube 29 extending along the linear actuators 13 is swingably connected to the waist part frame 12, and the center tube 29 is supported by a guide member 38 restricting rotation around an axis of the center tube 29 while allowing rising and falling in the axis direction.
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