Lower limb structure for walking robots and walking robots

摘要

What is provided is a lower limb structure for a walking robot, with which a load acting on an actuator for moving a knee joint can be reduced. The lower limb structure for the walking robot includes a hip joint main body (18), a thigh portion (12a), a hip joint (22) for connecting the thigh portion (12a) to the hip joint main body (18), and a knee joint main body (19 ) connected to the thigh portion (12a). The lower limb structure for the walking robot includes a thigh portion auxiliary member (31) having one end portion thereof connected to the hip joint main body (18) or the hip joint coupling (22) so as to be rotatable about a pitch axis and its other end portion is connected to the knee joint main body (19) so as to be rotatable around the pitch axis. A knee joint actuator (4) enlarges and reduces a length from the one end portion to the other end portion of the thigh portion auxiliary member (31).