To realize a jumping motion of a robot device.
In a leg part structure body 110 of the robot device, a four-point link mechanism is constituted by connection rods 113, 114 and pivots 112a to 112d. A rod 117 is inserted to an insertion hole provided at a tip end of an arm part 116 and a coil spring 118, i.e., an elastic member is arranged between one end of the rod 117 and the tip end of the arm part 116. A rod-like member 120 is bonded and fixed to a predetermined position of a connection member 115. By elongating/bending the connection member 115, i.e., a knee joint, the coil spring 118 is elongated and shrunk, while by this four-point link mechanism, an orbital drawn by a tip end of the leg part when it is elongated and bent becomes a straight line. The coil spring 118 is arranged such that a relationship with force assumedly applied between a driving shaft 101 and the tip end of the rod-like member 120 becomes approximately linear by the coil spring 118.
DE LASA MARTIN
TALEBINEJAD SHERVIN
JEWELL DARRIN
PLAYTER ROBERT
RAIBERT MARC
