The present invention is characterized in that a pair of gravity torque compensators are provided in parallel on a link that rotates around a joint and the magnitude of the compensation torque generated in the pair of gravity torque compensators can be adjusted respectively, Even when the angle of the ground is changed by rotating in the pitch direction and the yaw direction, it is possible to provide a compensation torque suitable for each joint and to adjust the degree of multi-degree of freedom capable of coping with changes in the biaxial ground angle which minimizes the capacity of the actuator necessary for driving the robot To a gravity torque compensator.
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