WALKING ROBOT IN WHICH A PITCH DIRECTION HIP JOINT AND KNEE JOINT ARE CONNECTED TO BE DRIVEN BY A SINGLE COUPLING ACTUATOR

摘要

PURPOSE: A walking robot is provided to replace one of two actuators for driving a thigh link and a leg link with a lower power actuator and reduce the inertial force generated in the legs while walking.;CONSTITUTION: A walking robot(2R) comprises a thigh link(10R), a leg link(20R), a pitch direction hip joint(100R), and a knee joint(200R). At least one among a plurality of legs is the thigh link. The leg link is formed beneath the thigh link. A body and the thigh link are connected each other. The pitch direction hip joint moves the thigh link in the pitch direction with respect to the body. The knee joint connects the thigh link and the leg link, and moves the leg link in the pitch direction with respect to the thigh link. The pitch direction hip joint and the knee joint are coupled to be driven with a single coupling actuator.;COPYRIGHT KIPO 2010