Patent ID: 6981562

Claim:
A biped locomotion robot comprising: a fundamental body portion; two leg portions, each of which comprises: a first link provided to support said fundamental body portion through a first joint portion, and a second link provided to support said first link through a second joint portion; and a foot portion movably coupled to each of said two leg portions through a third joint portion, wherein a rigidity of said first link is lower than that of said fundamental body portion, and a rigidity of said second link is lower than that of said first link, wherein a rigidity, of said first link is lower than that of said fundamental body portion, and a rigidity of said second link is lower than that of said first link, wherein the rigidity of said first link is determined between a top end and a bottom end of the first link, and the rigidity of said second link is determined between a top end and a bottom end of the second link and the rigidity of the fundamental body portion is determined between a top end and a bottom end of the fundamental body portion.