| 摘要 |
PROBLEM TO BE SOLVED: To provide an excellent structure in a joint part for connecting a body unit to a movable leg in a leg type mobile robot. SOLUTION: Since all actuators in the hip joint can be detached from the movable leg, weight of a leg unit can be reduced and moment in a leg part can be lowered. A heavy material such as the actuator is concentrated in the vicinity of a body center, thereby operation control of a robot can be simplified by simplifying a model of the robot. Furthermore, a harness such as a power line or a control cable for the hip joint actuator is not necessary to be passed through the hip joint, thereby distribution of the harness comes to be easy.
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