| 摘要 |
PROBLEM TO BE SOLVED: To easily satisfy the demand to the legs of a robot, by comprising plural legs for supporting a body part, and giving the redundancy to at least one of the lens. SOLUTION: A bipedal walking device 1 comprises a body part 2, and the body part 2 is supported by the front and rear legs 3 for the gravity support and the generation of the translational thrust. At least one of the front and rear legs 3, is provided with the redundancy. The front and rear legs 3 are respectively obtained by connecting three leg members F comprising one revolute joint J and one link L, in series. The revolute joints are respectively driven by a motor M. The walking action is performed by cooperatively actuating the front and rear legs. The cooperative actuation is performed by controlling the motor installed on the revolute joint of the rear leg. The leg is the redundant leg, and the demand specification of the quick leg periodical motion, the long length of step, and the generation of the driving force and the gravitational resistance, can be easily satisfied. |
