PURPOSE: To provide a walking robot capable of realizing driving stroke and return stroke without performing cooperative control of plural joints, thereby easily achieving walking operation.
CONSTITUTION: A walking robot 1 walks using a leg 2 consisting of a cylindrical elastic body in which pressure chambers 14,15 are formed by a partition wall 5 extending in the axial direction 18. By this structure, when a large pressure is applied to any pressure chamber of the leg 2, the pressure chamber is extended, and when the pressure in each pressure chamber is increased, the whole leg 2 is extended. Thus, the leg 2 can realize the two degrees of freedom simultaneously, and thereby the robot 1 can walk without requiring complex control such as cooperative control of the leg 2.
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KONDOU FUMIKA
SUZUKI TAKAO
