Patent ID: 7598695

Claim:
A quadruped walking robot having four legs at the side portions of the main body portion, wherein the respective leg portions comprise: a horizontal swivel portion disposed so as to freely swivel in the horizontal direction in the main body portion; a horizontal swivel driving portion disposed in the main body portion, which drives and turns the horizontal swivel portion in the horizontal direction; an upper side upper leg portion rotatably axially attached in the horizontal swivel portion so as to freely turn in the vertical direction; a lower side upper leg portion disposed roughly parallel to the lower part of the upper side upper leg portion, which is rotatably axially attached in the horizontal swivel portion so as to turn in the vertical direction; an upper leg driving and turning portion disposed in the horizontal swivel portion, which drives and turns the upper side upper leg portion in the vertical direction; a lower leg portion in which the distal end part of the upper side upper leg portion and the distal end part of the lower side upper leg portion are axially supported vertically at the upper end portion; and a grounding portion disposed at the lower end portion of the lower leg portion; and wherein the lower side upper leg portion is provided with a resilient extension and contraction portion that is disposed at an intermediate part thereof and is resiliently extended and contracted in the lengthwise direction.