To provide a robot capable of maintaining the attitude of the riding part constant.
The robot 10 has the riding part 100 to admit riding of a person and walks with a pair of leg links 12, and is equipped with a roll shaft actuator to change the attitude of the riding part round the advancing direction axis of the robot 10, a pitch shaft actuator to change the attitude of the riding part 100 round the lateral axis of the robot 10, a means to sense the attitude of the riding part 100 round the advancing direction axis and the lateral axis, and a controller to control the roll shaft actuator and the pitch shaft actuator so as to maintain constant the attitude of the riding part 100 round the advancing direction axis and the lateral axis sensed by the attitude sensing means.
KONOSU HITOSHI
MURAYAMA HIDEYUKI
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