Patent ID: 7099743
Filing Date: 2006-08-29
Classification: B25J,B62D

Abstract:
1. A two-legged walking robot, comprising: a pair of foot members; a calf member provided above each of the foot members; a double-axis ankle joint provided between each of the respective foot member and the calf member to allow the foot member to rotate relative to the calf member in forward and backward directions and in right and left directions; a pair of first actuators coupled to both of each of the respective foot member and the calf member to rotate the foot member relative to the calf member about the ankle joint in the forward, backward, right, and left directions; a femoral member provided above each of the calf members; a single-axis knee joint provided between each of the respective calf member and the femoral member; a second actuator coupled to both of each of the respective calf member and the femoral member to rotate the calf member relative to the femoral member about the knee joint in forward and backward directions; a hip member provided above each of the femoral members; a double-axis hip joint provided between each of the respective femoral member and the hip member to allow the femoral member to rotate relative to the hip member in the forward, backward, right, and left directions; and a pair of third actuators coupled to both of each of the respective femoral member and the hip member to rotate the femoral member relative to the hip member about the hip joint in the forward, backward, right, and left directions, wherein each of the ankle joints comprise: