To provide a legged robot which achieves its stability by a leg mechanical structure itself without using a control system employing sensors including an acceleration sensor, an angular velocity sensor, and a power sensor, by applying elastic force to pulleys arranged at a hip joint shaft, a knee joint shaft, and a foot joint shaft, respectively, connecting the pulleys together, and by adjusting the sizes of the respective pulleys, whereby the legged robot is free from adverse effect of failures of the sensors and the control system, high in reliability, simple in structure, and low in cost.
The legged robot has: an elastic element for generating joint shaft torque in proportion to a displacement angle of each of the hip joint shaft, the knee joint shaft, and the leg joint shaft; an elastic element for applying elastic force to the pulley at the hip joint shaft and fixed to a waist link, and to the pulley at the knee joint shaft and fixed to a shin link; a small-diameter pulley at the knee joint shaft and fixed to a thigh link; a large-diameter pulley on the foot joint shaft and fixed to a foot link; and a wire connecting between a circumference of the small-diameter pulley and a circumference of the large-diameter pulley.
Mamoru Shimizu
Makoto Kawai
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