Patent ID: 8138707
Filing Date: 2012-03-20
Classification: B62D

Abstract:
1. A bipedal walking robot comprising a body and a pair of legs at both sides of the body, wherein each leg is composed of a thigh link connected to the body through a hip joint, a crus link connected to a lower end of the thigh link through a knee joint, and a foot connected to a lower end of the crus link through an ankle joint, the bipedal walking robot further comprising a foot driving linear actuator configured to exert a linear telescopic force through a telescopic motion thereof, the foot driving linear actuator connecting the crus link and the foot of each leg away from the ankle joint, and to drive the foot to rock around the ankle joint with respect to the crus link by applying the linear telescopic force through the telescopic motion thereof; wherein the foot driving linear actuator is disposed in such a way that the linear telescopic force therefrom acts on a line inclined backward with respect to a connection line connecting the knee joint and the ankle joint.