BIPED WALKING ROBOT

PROBLEM TO BE SOLVED: To provide a biped walking robot, which consumes only a small quantity of power in a battery, and operates for a long time. SOLUTION: The biped walking robot 1 comprises an upper body 2, and two leg elements 3, which are connected with the upper body 2 by means of a waist articulation 8 and has a knee articulation 9 and an ankle articulation 10, and takes a standing attitude with the knee articulation 9 bending. The center of gravity of the whole of the robot is arranged so as to come to the position between the vertical line, which connects the ankle articulation 10 with the waist articulation 8 in the standing attitude, and the vertical line, which passes through the middle point between the vertical line connecting the ankle articulation 10 with the waist articulation 8 and the vertical line passing through the knee articulation 9. By this configuration, the driving torque of an actuator is reduced, and also the power consumption is reduced. COPYRIGHT: (C)2004,JPO&NCIPI