FIELD: leg design of walking robot.
SUBSTANCE: in leg assembly of robot lower part of leg is joined with upper part of leg through knee joint, foot is joined with lower part of leg through talocrural joint. Foot is secured to talocrural joint in such a way that it may incline relative to cross axis and to turn around lengthwise axis relative to lower part of leg. Foot is provided with pickup for measuring efforts along six axes in order to determine load applied to foot. Leg assembly also includes motor for inclining foot around cross axis; said motor is mounted in lower part of leg over talocrural joint. Leg assembly includes in addition rotation motor for rotating foot around lengthwise axis; said motor is mounted in lower part of leg over talocrural joint. Invention allows to decrease inertia moment at rotating around knee joint and simultaneously to minimize influence of motor upon pickup arranged in foot.
EFFECT: improved design.
8 cl, 7 dwg
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