PURPOSE: To enable a robot to stably carry out dynamic walk by rotating a fore leg and a hind leg so that one of the fore leg and the hind leg is made into contact with the ground while the other one thereof is lifted up from the ground surface, and by changing the lengths of both legs which are therefore alternately made into contact with the ground in a walking direction.
CONSTITUTION: The length of a hind leg 4 is shortened so as to shift the center C of gravity toward the hind leg 4, and accordingly, a substantial part of the weight is exerted to the hind leg 4. Then, the length of a fore leg 3 is shortened while a shoulder joint motor and an elbow joint motor are rotated so that a body 2 is raised in an upright direction I, and accordingly, the front leg 3 is lifted from the ground surface. Then, the robot 1 starts inclining in a direction K about the axis connecting between the ground contact points 4a, 4a of the hind leg 4 as a rotational fulcrum axis, and accordingly, the length of the fore leg 3 is shortened and swung in a direction H. Next, the fore leg 3 is extended so as to be made into contact with the ground in an walking direction. Then, the hind leg 4 is turned in the walking direction about the fore leg 3 as a fulcrum. The above-mentioned steps are repeated.
SAKAMOTO TAKUYA
HOSOI MITSUO
MATSUDA TOMOO
