JOINT STRUCTURE AND JOINT DRIVING DEVICE, AND BIPEDAL WALKING ROBOT

摘要

To realize a joint structure of a compact structure which has a wide movable range and does not require a height, and to provide a joint structure which improves a degree-of-freedom of layout around a joint and is mounted on a bipedal walking robot which can be located at a low position.SOLUTION: A joint structure which is mounted on an ankle joint 23 of a bipedal walking robot comprises a pitch wave gear reducer 42 and a roll wave gear reducer 62. In the joint structure, a pitch axis shaft 24 and a roll axis shaft 25, to which rotation driving force of a pitch motor and a roll motor is inputted, are orthogonal to each other in a same plane, and are fixedly connected to wave generators 45, 65 of respective input elements, are respectively engaged with rigid internal tooth gears 43, 63 of respective output elements via flexible external tooth gears 44, 64 of respective fixation elements, and decelerate and transmit rotation driving force to a pitch rotation component 41r of a pitch joint structure 41 and a confrontation storage part 61r3 of a roll joint structure 61.SELECTED DRAWING: Figure 4