To make a structure of a hip joint required for changing a direction of a walking robot as small as possible in a walking robot.
The walking robot walking by driving legs has at least two legs each constituted of a plurality of link members and joints connecting the link members. The robot comprises: angular momentum generation means generating a relative angular volume relative to the walking robot using a rotary center shaft formed by supporting legs under a walking condition of the walking robot as a center; and rotation means rotating the walking robot to a contact floor, which the supporting legs forming the rotary center shaft contact by changing the angular momentum generated by the angular momentum generation means.
COPYRIGHT: (C)2008,JPO&INPIT
Hidemi Matsukura
Mayuko Wakuda
Tsutomu Toyama