To provide a bipedal walking robot capable of freely floating, decreasing weight and simplifying a structure.
In the bipedal walking robot 10, leg portions are attached to two hipjoints 2a, 2b, and the hip joints 2a, 2b are connected to a connecting member. The hip joints 2a, 2b are equipped with driving devices 2a1, 2b1 rotating the leg portions in a fore-and-aft direction so as to move the robot forward/backward. At both of the leg portions, generally flat louvers 8, 8 are equipped on a side surface in the first leg portion opposite to the second leg portion in a posture turning its longitudinal direction to the longitudinal direction of the leg portions. A ducted fan 7 is equipped through second and third driving devices 91, 92 so as to rotate a rotating shaft 73 from the first leg portion side to the second leg portion side. A blowing flow from the fan is directly radiated to the louvers 8, 8, and a floating direction is adjusted by tilting of the louvers 8, 8 according to the action of the hip joints.
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Sekiya Mitsuo
Yasushi Hayakawa
Ishikawa Takiharu
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