BIPED WALKING ROBOT STEP ELEVATING/LOWERING METHOD AND BIPED WALKING ROBOT
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机译：双足步行机器人的阶梯升降方法和双足步行机器人
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摘要
PROBLEM TO BE SOLVED: To provide a biped walking robot step climbing-up/climbing-down method for miniaturizing a biped walking robot, and preventing interference of a leg part with a step when a stepped part of the step is higher for the biped walking robot, and the leg part of the biped walking robot is shorter for the stepped part of the step, and the biped walking robot. ;SOLUTION: In a step climbing-up/climbing-down method of the biped walking robot 1 comprising at least an upper body 2 and two leg parts 3 and 4 connected to the upper body 2 via a hip joint 41 while the leg parts 3 and 4 have knee joints 32 and 42 and ankle joints 33 and 43 to turnably connect the knee joints 32 and 42 and foot parts 5 and 6, the position of a center 20 of gravity of the biped walking robot 1 when the biped walking robot 1 climbs up a step 50 is moved forward of the position of the center 20 of gravity when the robot is in a normal climbing-up mode.;COPYRIGHT: (C)2004,JPO
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