To provide a robot which can walk straight ahead on a slope with an angle of inclination and is reduced in weight and manufacturing costs.
The bipedal walking robot has a trunk and right and left legs connected to the trunk. The robot includes a left module having a left side gear connected to a left leg and a left pinion gear engaged with the left side gear, and a right module having a right side gear connected to a right leg and a right pinion gear engaged with the right side gear. The two modules are coupled together with a parallel link or a pulley of the same diameter, and restrained at a position in which the modules tilt against the trunk always at the same phase and the same angle. The pinion gears are synchronized with each other via the pulley of the same diameter, and restrained so that the legs make forward and backward actions at phases reverse to each other but at angles equal to each other.
NAKAZAWA AKIHIRO
ONOZAWA KEN
SASAKI MINORU
SASAKI MINORU