Patent ID: 6959776
Filing Date: 2005-11-01
Classification: B62D

Abstract:
1. A biped walking humanoid robot, comprising: a body part, leg parts attached to the lower both sides of said body part, arm parts attached to the upper both sides of said body part, and a head part attached on top of said body part, wherein said leg parts include two thigh parts attached triaxially movably to said body part, lower thigh parts each of which attached monoaxially movably to each lower end of said thigh parts, and foot parts each of which attached biaxially movably to each lower end of said lower thigh parts, wherein said arm parts include two upper arm parts one end of which attached biaxially movably to said body part, lower arm parts each of which attached monoaxially movably to each other end of said upper arm parts, and hand parts each of which attached monoaxially movably to each of said lower arm parts, and wherein the robot further comprises a drive means for moving foot parts, lower thigh parts, and thigh parts of said leg parts, hand parts, lower arm parts, and upper arm parts of said arm parts, and a breast part, respectively, and a walk controller which drive controls each drive means, the robot being characterized in that: said body part comprises a waist part below, said breast part above attached biaxially movably to said waist part via a connection mechanism, and a drive means to move biaxially said breast part, said connection mechanism is attached to said breast part, and comprises a breast frame provided with a rotatory part acting as a vertical rotation axis at the bottom end, a waist frame attached to said waist part, and a moving part connecting mutually said breast frame and said waist frame, said moving part is provided with the plurality of balls held by ring units at equi-angular interval along the guideway formed as circular at the upper surface, said ring units support said breast frame in the direction of radial and thrust by receiving into its inner diameter part said rotatory part attached to the bottom surface of said breast frame, said waist frame is provided with a horizontal rotation axis aligned at the forward position from the center, and said moving part is supported movably with respect to said horizontal rotation axis.