The present invention relates to a three-legged walking robot, comprising: a main frame which includes a control unit, and a sensor unit; a central leg holder mounted on a central unit of the main frame; a central leg member supported by the central leg holder to be extended in a longitudinal direction and to have a robot foot fixed on an extended end unit; a central leg driving unit supported by the main frame to move the central leg member in a longitudinal direction; a pair of torque output units symmetrically fixed on the opposite side while placing the central leg holder therebetween to output torque towards an external side of the main frame; a side unit leg holder separated from the main frame to be connected to each of the torque output units, receive a rotatory power from the torque output units, and make an angular motion; a pair of side unit leg members supported by the side unit leg holder to be extended in a longitudinal direction, and have a robot foot mounted on an extended end unit; and a side unit leg driving unit supported by the main frame to be fixed on the side unit leg holder and move the side unit leg members in a longitudinal direction. According to the present invention, the three-legged walking robot is able to have the three legs, keep a stable balance when walking, widen its stride, realize a high walking speed, especially not need a complex structure or control system for keeping its balance, be manufactured at low costs and lightweight, and greatly increase the robot distribution rate.
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