WALKING LEG DEVICE OF ROBOT

PURPOSE:To provide a robot walking leg device that is large in the output per weight, and no drop in operating speed even in time of high load and further possible for complex operations in addition to being constant in a grounding part, and thereby excellent in economical efficiency and operability. CONSTITUTION:This walking leg device is provided with a heet-foot mechanismic part 1 made up of making a spherical bearing jointed foot part 5, being composed of joining each of spherical grounding members 2, 3 and 3 installed in each apex of an ispsceles triangle with a plate spring-form member 4, possible for both vertical rocking and twisting motions through a three-set of hydraulic cylinders 6, 7 and 7. In addition, it is also provided with a knee mechanismic part 8 composed of making a femoral member 30 bendable at a rear wide angle with a four-set of hydraulic cylinders 10 to 13 per one leg installed in a knee member 9 with a disklike adjustable member pairwise up and down as well as front and rear respectively, and an automatic controller 22 operating these mechanismic parts cooperatively.