To provide a leg structure of a mobile robot, which increases a wheel traveling speed without making an output of a drive motor large or enlarging a diameter of a wheel.
This leg structure of a mobile robot comprises: an ankle part 21 rotatably connected with a leg 9 connected with a robot body 10; a wheel 22 rotatably supported by the ankle part 21; a drive shaft 46 rotatably supported by the leg 9 cocentrically with a rotation axial core of the ankle part 21; a drive motor 23 rotary driving the drive shaft 46; a transmission mechanism 53 increasing a speed of rotation of the drive shaft 23 and transmitting it to the wheel 22; and restraining means 60 installed to the ankle part 21 and capable of restraining the rotation of the drive shaft 46 relative to the ankle part 21.
COPYRIGHT: (C)2008,JPO&INPIT
MURAKAMI HIROKI
| JP2005046949A | 2005-02-24 | |||
| JP2003254396A | 2003-09-10 |
Yasuharu Nakasone
Toshihiro Nomura
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