To provide a bipedal walking leg type mobile robot capable of effectively absorbing a ground-touch impact force for cushioning and also increasing the degree of freedom of a walkable design.
This bipedal walking leg type mobile robot comprises at least an upper body and two leg links (movable leg parts) connected to the upper body. The upper body is connected to the leg links through a parallel link mechanism 7, the upper body is connected to upper and lower links 90 and 92 thereof through first and second pivots (rotating shaft 100 and joint 102), respectively, and the leg links is connected to right and left links 94R and 94L, and an actuator (electric motor) vertically driving the leg link is provided at the pivot (joint) 102 so as to be relatively displaceable generally in parallel with the direction of the center of gravity.
HAMAYA ICHIJI
MATSUMOTO TAKASHI
