PROBLEM TO BE SOLVED: To provide a lower limb which can run through a rough road having many ruggedness and a place of rubble or the like, can ascend and descend stairway, ladder or the like and has a waterproof structure, in a bipedal walking robot.SOLUTION: A walking and running device for a bipedal walking robot which mounts a crawler on a lower thigh part of a bipedal walking robot lower leg, performs walking, and ascending/descending movement of stairway or ladder while stretching/contracting lower thigh and thigh in a usual walking movement, runs by rotating the crawler when moving more quickly than walking, bends the lower thigh at a knee joint upon rubble or rough road running and, speaking in person's movement, can run by means of the crawler in such a posture as to sit straight is provided. Therein, a lower leg in which the lower thigh and the whole foot part having a water-proof structure are obtained by setting a movable part of the foot part as a seal structure is provided.SELECTED DRAWING: Figure 1

    【課題】2足歩行ロボットで、でこぼこの多い悪路や瓦礫などの場所を走破でき、且つ階段や梯子なども上り下りでき、防水構造である下肢を得る。【解決手段】2足歩行ロボット下肢の下腿部に無限軌道を装着し、通常の歩行動作では下腿と大腿を伸縮させながら歩行や階段、梯子の昇降動作を行い、且つ歩行よりも早く移動する場合は無限軌道を回転させて走行し、瓦礫や悪路走行では下腿を膝関節で折り曲げ、人の動作で言えば正座をするような体勢で無限軌道により走行できる2足歩行ロボット用歩行走行装置を得、足部の可動部をシール構造として下腿及び足部全体を防水構造とした下肢を得る。【選択図】図1


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    Title :

    CRAWLER DEVICE FOR BIPEDAL WALKING ROBOT


    Additional title:

    2足歩行ロボット用無限軌道装置


    Contributors:

    Publication date :

    2016-09-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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