Patent ID: 7753146

Claim:
A leg mobile robot comprising: a body; a leg joined to the body through a first joint in a manner that allows the leg to be actuated; and a foot joined to a distal end of the leg through a second joint, wherein the foot comprises: a foot flat portion having a ground contact end of the foot; a movable portion joined to the second joint and configured to be movable in a first direction with respect to the foot flat portion; a shock absorber comprising first and second end portions allowed to move closer to or away from each other in a second direction different from the first direction, the first end portion of the shock absorber being joined to a first point of the movable portion; and a motion direction conversion mechanism joined swingably to the second end portion of the shock absorber and to a second point of the movable portion, respectively, and configured to convert a motion of the movable portion in the first direction to a motion of the second end portion of the shock absorber in the second direction with respect to the first point of the movable portion, and the shock absorber and the motion direction conversion mechanism forming a combination.