Patent ID: 7240747

Claim:
A legged mobile robot leg structure in which a lower leg part ( 24 ) is connected to the lower end of an upper leg part ( 23 ) through a knee joint ( 27 ), a foot part ( 25 ) is connected to the lower end of the lower leg part ( 24 ) through an ankle joint ( 28 ), and the ankle joint ( 28 ) supports the foot part ( 25 ) so that the foot part ( 25 ) can pitch around a lateral axis (Ly) and roll around a fore-and-aft axis (Lx) relative to the lower leg part ( 24 ), the legged mobile robot leg structure comprising: a pitch motor ( 34 ) for making the foot part ( 25 ) pitch around the lateral axis (Ly), the pitch motor ( 34 ) being supported on the lower leg part ( 24 ) at a position above the ankle joint ( 28 ); and a roll motor ( 35 ) for making the foot part ( 25 ) roll around the fore-and-aft axis (Lx), the roll motor ( 35 ) being supported on the lower leg part ( 24 ) at a position above the ankle joint ( 28 ).