Abstract: The invention relates to a method for assembling a motor vehicle heating, ventilation and/or air conditioning device, comprising a step of moving at least one part by a manipulator (I) provided with gripping means (2), the gripping means (2) comprising at least one first finger (3) delimiting a triangular shape, said part comprising an element of shape complementary to the trian-gular shape of the finger of the manipulator, termed counter shape, so that, during the movement step, the manipulator (I) grasps the part using the gripping means (2), the counter shape of the part en-gaging with the triangular shape of the finger (3).

Abstract: A device for controlling a handling device comprising a carrier housing which can be arranged on the handling device with a tactile sensor body arranged on the outside of the carrier housing and a tool carrier movably mounted on the carrier housing, wherein the sensor body can be actuated by the tool carrier when load is acting on the tool carrier, wherein the sensor body is formed by a gas-filled chamber which is surrounded by a flexible shell, which can be deformed by collision with an obstacle, and further comprises a pressure sensor for measuring the gas pressure prevailing inside the chamber.

Abstract: A parallel kinematic robot including a base unit, a platform movable in relation to the base unit about a plurality of main axes, two independently movable actuating arms connected between the base unit and the movable platform for moving the platform in relation the base unit, a tool holder rotatably connected to the platform to allow rotation of the tool holder in relation to the platform about a first auxiliary axis, a motor for driving the first auxiliary axis, located in the base unit, and a gear unit. The gear unit includes a first gearbox located in the base unit and a second gearbox located in the platform.

Abstract: The present application relates to the technical field of robot joints, and discloses a robot dual-joint unit, and a legged robot and a cooperative manipulator using the same. The robot dual-joint unit includes a first joint consisting of a first motor and reducer assembly, a second joint consisting of a second motor assembly and a second reducer; a first output connecting rod is fixedly provided on an output shaft of the first motor and reducer assembly, the second reducer is provided in the first output connecting rod, and the second motor assembly drives the second reducer through a transmission rod.

Abstract: The treatment couch includes a couch panel, a main supporting structure, an auxiliary supporting structure and a supporting beam. Both ends of the supporting beam are respectively connected to the main supporting structure and the auxiliary supporting structure.

Abstract: A robotic surgical instrument includes a housing, a shaft assembly extending distally from the housing, and an end effector assembly. The shaft assembly has a proximal segment coupled to the housing, a clevis supporting the end effector assembly, and an articulating link pivotably coupled to and interconnecting the proximal segment and the clevis such that the end effector assembly is configured to articulate relative to the proximal segment via the articulating link in at least two directions.

Abstract: A leg assembly and a legged robot having same are provided. The leg assembly includes a first leg, a second leg, a motor, an output flange and a transmission component. The motor is arranged at a first end of the first leg, and an output shaft of the motor is connected to the output flange to drive the output flange to rotate. The first leg is pivotably connected to the second leg, and the transmission component is connected to the output flange and the second leg to drive the second leg to rotate relative to the first leg. The output flange is provided with a first limiting portion, the first leg is provided with a first stop portion and a second stop portion spaced apart and configured to stop the first limiting portion, and the first leg is provided with a second limiting portion configured to stop the second leg.

Abstract: Surgical robot for tracking and compensating bone movement, the robot comprising: a robot arm (3) and a tool guide (5) at the arm's end-effector, a tracker (1) attached to the robot arm at the same plane as the tool guide, the tracker comprising an assembly of articulated segments (1a-1d) and encoders (2) associated to the segments such that movement of the tracker is allowed and monitored in at least six degrees of freedom. The tracker base and the tool guide share the same frame, that is, are on the same plane, so that the system is able to determine directly the exact positioning of the tool guide with respect to the tracked bone without any intermediate device. This way, an optical tracker and the associated cameras can be dispensed with.

Abstract: Provided is a multi-segment rotation robotic arm which contains a plurality of concatenated robotic arm segments which can rotate 360 degrees along an adjacent oblique section thereof. Any one of the concatenated robotic arm segments of the multi-segment rotation robotic arm can be arbitrarily concatenate in accordance with use requirements. When the concatenated robotic arm segments rotate relatively, they can rotate 360 degrees without affecting the electric supply, and can also reduce the volume increase by rotated joints. Therefore, the multi-segment rotation robotic arm of the present invention can effectively adapt to complex and tortuous spaces in the body cavity to reduce the possibility of expanding the opening of the minimally invasive surgery and causing damage to organs or tissues in the body cavity.

Abstract: A joint structure for a robot according to the present disclosure includes a first link and a second link rotatably coupled to each other via a joint part. The joint part has a first rotary member disposed so that an axial center thereof is oriented in a first direction and connected to the first link, a pair of second rotary members disposed so that an axial center thereof is oriented in a second direction perpendicular to the first direction, and so as to engage with the first rotary member, and a shaft member formed in a T-shape and having a first shank and a pair of second shanks. The joint structure further includes a pressing member connected to the second shank and configured to press the second rotary member inwardly.

Abstract: To substantially eliminate torsional freeplay in a robotic tool changer having a ball-lock coupling mechanism, scallop-like features in the form of cross-contact recesses are formed in at least one of, and preferably both of, a bearing race in a tool assembly at the points of contact of rolling members, and in the opposing inner surfaces of bores containing the rolling members in a master assembly. The cross-contact recesses are sized and shaped to receive a rolling member, but have a central void, or channel, perpendicular to the rolling member's motion in torsional freeplay, which does not contact the rolling member. The cross-contact recess contacts the rolling member at contact areas on either side of the central void.

Abstract: A bi-directional robotic crawler includes a first drive system having a first drive member, a second drive member, and a support member. The first drive member includes a first pair of wheels and the second drive member includes a second pair of wheels. A second drive system includes a third drive member and a fourth drive member. The third drive member includes a first drive element and the fourth drive member includes a second drive element. A linking member selectively pivots the third drive member and the fourth drive member relative to the support member. A motor is mounted to the first drive system. The motor selectively operates the first and second pairs of wheels to move the bi-directional robotic crawler along a first axis and the first and second drive elements to move the bi-directional robotic crawler along a second axis.

Abstract: A device for deploying and pointing an equipment item is disclosed including a mobile platform for receiving the equipment item, a carrier integrally secured to a wall of a spacecraft, and three identical linear actuators which connect the carrier to the mobile platform and are suitable for moving the platform in translation along one axis and for orienting the platform in rotation about two axes. Each linear actuator including a first portion connected to the platform by a universal joint, a second portion connected to the carrier by a pivot connection, a motor, and a screw/nut joint interconnecting the two portions, each universal joint being suitable for preventing the screw/nut joint from rotating about the axis, such that driving the motor causes a translational movement between the first and the second portion.

Abstract: A symmetrical tri-axial parallel spindle head capable of multi-directional fixed-point rotation, comprising three branch chains (2), a moving base (5), and a fixed base (1). A machining spindle (6) is fixedly connected onto the moving base (5). Each of the branch chains (2) comprises a servo motor (22), a branch chain rod (21), a lead screw (23), and a guide nut (25). The lead screw (23) and a linear guide rail (24) are provided in an inner cavity on one end of the branch chain rod (21). One end of the lead screw (23) is connected to the servo motor (22), the lead screw (23) passes through the guide nut (25), and the other end of the lead screw (22) is connected to the branch chain rod (21) by means a rotating pair. The guide nut (25) is mounted on the linear guide rail (24) and is rotatably connected to the fixed base (1) through a first support disc (26). The other end of the branch chain rod (21) is rotatably connected to the moving base (5) through a second support disc (28).

Abstract: A calibration method, in a robot having a robot arm, of obtaining a position relationship between a first control point set for an end effector attached to a distal end of the robot arm and a second control point set on the distal end of the robot arm, includes a sixth step of calculating a second position relationship between a second reference position obtained from a position of the second control point in a third state and a position of the second control point in a fourth state and a first feature point in the fourth state, and a seventh step of calculating coordinates of the first feature point in a robot coordinate system based on a first position relationship and the second position relationship.

Abstract: A vertical articulated robot includes a first joint axis portion including a first motor configured to rotationally drive a tool flange, and a second joint axis portion including a second motor configured to rotationally drive the first joint axis portion. The first motor includes a portion that overlaps the second motor in a direction orthogonal to both a direction in which a first rotation axis extends and a direction in which a second rotation axis extends.

Abstract: A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.

Abstract: A 3-axis parallel linear robot has three drivers disposed around a central axis and a movement mechanism. The movement mechanism has three linkage assemblies connected to an end effector in parallel. The three assemblies are respectively driven by the three drivers in a linear or rotary manner for enabling the end effector to linearly move in a three-dimensional space. Each linkage assembly has three linkage rods and three rotating joints. An inner angle defined between each rotating joint and an imaginary plane being perpendicular to the central axis is an acute angle. A first center distance between the first rotating joint and the second rotating joint is equal to a second center distance between the second rotating joint and the third rotating joint. The overall height of the movement mechanism is reduced for increasing the working stroke and for improving the movement stability of the 3-axis parallel linear robot.

Abstract: A planar actuator device, including a base plate including a first, second, and third pair of planar coils, each pair of planar coils having an inner coil and an outer coil, each pair of planar coils arranged along a first, second, and third linear motion axis, respectively, the first, second, and third linear motion axis arranged in a star configuration, and an actuation mechanism including a first, second, and third planar legs and a centerpiece, the first, second and third planar legs pivotably connected to the centerpiece, the planar legs including a first, second, and third sliding element and a first, second, and third middle section, respectively, a sliding element and middle section of a respective leg pivotably connected to each other, each sliding element including a permanent magnet.

Abstract: An electrosurgical instrument having jaws is energized and actuated using a length of cable. The cable is formed of a conductive inner portion coated with a dielectric polymer. The cable extends through a pass-through in a portion of the jaw and is crimped to create a mechanical and electrical connection between the conductive inner portion and the conductive jaw material.

Abstract: An arm joint is provided with a first coupling part with a first axis and a second coupling part with a second axis. Further, the arm joint includes a third coupling part connected in a manner rotatable around a third axis with the first coupling part. The third axis includes an angle with the first axis in the range of 30-60 degrees, preferably of 45 degrees. The third coupling part is connected in a manner rotatable around a fourth axis with the second coupling part. The fourth axis includes an angle with the second axis in the range of 30-60 degrees, preferably of 45 degrees. The third and the fourth axis mutually include an angle in the range of 60-120 degrees, preferably of 90 degrees. A robot arm with a number, preferably three, of such arm joints is also disclosed.

Abstract: A robot hand includes a motor with a rotary shaft, an accommodating member accommodating a distal end of the rotary shaft, a plurality of swing members swinging with respect to the accommodating member due to rotation of the rotary shaft, and a plurality of claw members swinging with the plurality of swing members.

Abstract: A soft gripper including tentacles, each tentacle includes lower and upper members connected by a connector. Each member includes guide discs, and each guide disc includes a ring with passthrough holes, and a spacer located in a donut hole of the ring with passthrough holes, the passthrough holes collectively define cable pathways. The connector includes a center thru-hole and transfer channels. Cables have proximal ends attached to actuators and extend through apertures of a baseplate located at a proximal end of the lower member. A set of lower cables extend through the lower ring passthrough holes to couple to a distal lower guide disc. A set of upper cables extend through the lower spacer passthrough holes, through the transfer channels to the upper ring passthrough holes to couple to a distal upper guide ring, and an end cap is attached to the distal end of the upper member.

Abstract: A redundant load transmission includes an input shaft configured to receive a rotational torque from a primary drive, an output shaft configured to transmit the rotational torque to an actuator, and a coupling assembly configured to connect the input shaft to the output shaft to transmit the rotational torque. The input shaft is configured to receive the rotational torque from the primary drive and transmit the rotational torque through the coupling assembly when the coupling assembly is in a primary drive configuration. The coupling assembly is configured to be disconnected from the input shaft and transmit a rotational torque to the output shaft from a secondary drive when the coupling assembly is in a secondary drive configuration.

Abstract: The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Abstract: A surgical instrument for use with a robotic manipulator includes an end effector assembly having one or two end effector members, each having a distal treatment end, a proximal end, and a tendon pass-through. Each end effector member is sandwiched between a corresponding pair of pulley members that, when assembled define an annular tendon pathway that is between the pulley members and that is aligned with the pass-through. For each end effector member, a tendon having a distal loop portion ends through the tendon pass-through, with its legs passing proximally from the pass-through, extending in opposite directions around the tendon pathway and proximally through the instrument's shaft.

Abstract: The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration.

Abstract: A position correction device according to an embodiment includes a movable part and a pressing part. The movable part is capable of moving a holding part that holds a connection object back and forth in each of a second direction that is orthogonal to a first direction where the holding part is moved therein in order to connect the connection object to a target connector, and a rotational direction where the holding part is rotated therein around an axis along a third direction that is orthogonal to each of the first direction and the second direction as a center. The pressing part presses the movable part that moves in the second direction to move the movable part to a neutral position in the second direction and presses the movable part that moves in the rotational direction to move the movable part to a neutral position in the rotational direction.

Abstract: A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

Abstract: A robot wrist structure includes: a case, a first motor, a second motor, a first transmission mechanism, a second transmission mechanism, a first driving bevel gear, a second driving bevel gear, a driven bevel gear, a retaining fame, and an output connecting member; wherein the first motor and the second motor are mounted on the case, the first driving bevel gear, the second driving bevel gear and the driven bevel gear are respectively rotatably mounted in the retaining frame, the first driving bevel gear and the second driving bevel gear are both in mesh with the driven bevel gear, the first motor is connected to the first driving bevel gear by the first transmission mechanism, the second motor is connected to the second driving bevel gear by the second transmission mechanism, and the output connecting member is fixedly connected to the driven bevel gear.

Abstract: A surgical instrument for electrocautery is provided. The surgical instrument is a manually operable surgical instrument for electrocautery for use in laparoscopic surgery or various surgeries.

Abstract: A surface finishing apparatus includes: an arm to which a tool is attached; a force sensor that detects force applied to the tool; a visual sensor acquiring an image of a plane surface; a storage device storing data indicating a target state of the plane surface; and a controller that performs removing position determination process for determining, by using at least unfinished-surface image data and the data indicating the target state, a plurality of removing positions on the plane surface of the member, and arm control process for controlling the arm to sequentially perform surface removal at the plurality of determined removing positions, wherein a surface inspection agent is applied to the plane surface whose image is to be acquired by the visual sensor, and thereby the surface inspection agent is distributed over the plane surface.

Abstract: A robot comprises: an outer body in which a pin through-hole is formed; a cover from which a pin passing through the pin through-hole protrudes and in which a protrusion is formed at one side of the pin; and a stopper disposed at an outer circumference of the pin, wherein the stopper comprises: a protrusion contact surface on which the protrusion is contacted and caught; and an outer body contact surface that is contacted and caught by a periphery of the pin through-hole in the outer body.

Abstract: A robotic leg assembly includes a main body having a first end and an opposite second end, a first servo arranged at the first end of the main body, a second servo connected to the main body and comprising an output shaft, a servo holder arranged at the second end of the main body, a third servo received in the servo holder, and a linkage bar mechanism. Each of a first initial angle of the first rotary member and a second initial angle of the second rotary member is in a predetermined range.

Abstract: The present disclosure relates to a method for operating a pharmacy order-picking device. The present method reduces the susceptibility of the pharmacy order-picking device to disruption. To detect a positioning deviation of the control appliance in the horizontal direction, at least one desired value of at least one reference position is made available, the control appliance is brought to a position corresponding to the desired value in the horizontal direction and, when a signal characteristic of a reference position is detected, an actual value of this reference position is determined. A desired value is compared with a corresponding actual value, or two actual values are compared with each other, and a deviation is determined. If a deviation is determined that exceeds a limit value, a signal pointing to the need for a correction is output. Depending on the deviation, automatic correction of the position deviation can be performed.

Abstract: An object of the present invention is to grip a bag-shaped object in which a fluid is sealed with stability in a gripping system having a hand mechanism. A tip end portion of a press-in finger portion of the hand mechanism is brought into contact with the bag-shaped object and pressed into the bag-shaped object, and subsequently, when the pressure detected by a pressure detection unit provided on the single press-in finger portion or the pressure detected by any one of the pressure detection units provided respectively on the press-in finger portions reaches or exceeds a predetermined pressure, a gripping operation, which is an operation for gripping the bag-shaped object using at least two finger portions among the plurality of finger portions of the hand mechanism, is executed in a state where the press-in finger portion is pressed into the bag-shaped object.

Abstract: A system may comprise an image capture device disposed to capture an image of a work site, a display, and a processor. The processor may be configured to determine whether a tool disposed at the work site is energized and determine an area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image, to be filtered to indicate the tool has been energized. Conditioned upon determining that the tool is energized, the processer may also filter the area of the captured image of the work site to generate a filtered area of the captured image of the work site so as to create a glowing effect on the image of the portion of the energized tool, indicating that the tool is being energized. The image of the work site with the filtered area may be displayed on the display.

Abstract: A positioning unit includes two control carriages and a work carriage, it being possible to move the two control carriages and the work carriage on tracks that extend in parallel with one another. There is a working arm being articulated on a work base point on the work carriage and a control arm being articulated on a control base point on each of the control carriages. The control arms are articulated on the working arm at a control point of the working arm, the control point being spaced apart at a predefined lambda distance (d) from an end of the working arm that forms a working-point end and faces away from the work base point, and the two control base points and the work base point defining a triangle. At least two carriages of the two control carriages and the work carriage are movably arranged on a shared guide.

Abstract: Presented are multi-axis pivoting coupler joints for motorized vehicles, methods for making/using such coupler joints, and electric scooters with multi-axis pivoting coupler joints enabling multimodal scooter operation. A pivoting coupler joint includes first and second bearing assemblies each with a respective housing, respective inner and outer races concentric with each other and located in their respective housing, and a respective set of rolling elements rollably interposed between their respective inner and outer races. The first inner race of the first bearing assembly receives therethrough and circumscribes an axle shaft of a vehicle wheel. The second inner race attaches to a wheeled rider deck of the vehicle. The first and second bearing housings are joined together and angularly offset from each other.

Abstract: A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm.

Abstract: A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm.

Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap.

Abstract: A two joint module includes a housing and a pair of hollow rotary actuator assemblies. Each actuator assembly has an axis and a hollow shaft and the axes are arranged at an angle to each other. The pair of hollow rotary actuator assemblies are arranged back to back and attached to the housing such that cables can be fed from the outside of one of the pair of hollow rotary actuator assemblies to the inside thereof and to the inside of the other of the pair of hollow rotary actuator assemblies to the outside thereof. The disclosure also relates to a robotic arm. The robotic includes at least two two joint modules as described herein and at least a first link.

Abstract: An industrial robot including a robot chain of elements, a robot wrist bearing a tool (100) and a continuous internal passage through which one or more cables and/or pipes for the power supply and/or the fluid supply to the tool. The cables and pipes continue without interruption through the passage and through a flange of the robot up to respective connections of said tool, whereby the cables and pipes are arranged completely inside the robot and inside the tool, without the need to provide separate cables and pipes of the tool connected to the cables and the pipes of the robot at the flange of the robot.

Abstract: The invention relates to a robot arm of an industrial robot. The robot arm includes a flange provided to secure an end effector and several sequentially-positioned members connected by means of links, of which one of the members is mounted immediately before the flange, and the flange is mounted to rotate with respect to an axis relative to this member. To adjust the flange with respect to the member mounted immediately before the flange, the robot arm comprises an adjustment device that includes a base carrier is detachably attachable to the flange particularly by means of screws, with an adjustment means disposed on the base carrier that interacts with a counter-adjustment means disposed on the member mounted immediately before the flange.

Abstract: Provided is a robot further improved in safety. The robot includes at least one link which is rotatably coupled around an axis, a motor which rotates the link around the axis, a first sensor which detects a rotation state of the motor, and a second sensor which detects a rotation state of the link. The robot also includes a controller which controls the rotation of the link based on information from the first sensor. The controller determines an operation state of at least one of the first sensor and the second sensor, based on first information from the first sensor and second information from the second sensor.

Abstract: A shaft member (12) has a hollow pipe (13) extending coaxially with its axis of center of rotation and a tool mounting surface (12c) positioned at the front end of the shaft member. An umbilical member guide mechanism (10) includes an umbilical member fastening part (20) attached to a tool mounting surface side of the shaft member, a plurality of umbilical members (30) are guided from the arm side of the robot through the hollow pipe of the shaft member and fastened at the end of the hollow pipe at the tool mounting surface side by an umbilical member fastening part in parallel with the axis of center of rotation, and attaching parts (48a to 48d) which attach the umbilical member fastening part to the front end of the shaft member at one phase of at least two predetermined phases around the axis of center of rotation.

Abstract: A robot includes a base, a multi-joint arm provided in the base, and a wrist member configuring a part of the multi-joint arm. The wrist member includes: a motor including a rotor, a rotor shaft, and a stator; and a housing including a motor housing recess, in which the motor is positioned and housed, and forming an external shape of the wrist member. The housing has a motor incorporating recess including a positioning section for the stator, a hole section for fixing the stator incorporated in the motor incorporating recess, and a heat radiation groove section on a sidewall of the motor incorporating recess. A heat radiation member is filled in the heat radiation groove section.

Abstract: A setting unit 33 configured to set a first landing permissible region in order to ground a free leg side foot 16 within an upper tread surface or a lower tread surface of a step existing ahead of a legged mobile robot 1 in a traveling direction, and a setting unit 34 configured to set a second landing permissible region in order to ground the free leg side foot 16 on an edge of the upper tread surface or the lower tread surface are provided to switch landing permissible regions for movement control of the robot 1 according to a step height.

Abstract: A wrist includes a wrist housing including a wrist driving structural portion to which rotation is transmitted from a wrist driving pulley, a cylindrical portion arranged coaxially with a rotational axis of the wrist driving structural portion and penetrated by a first hand driving shaft to which rotation is transmitted from a hand driving pulley, a cable introducing portion forming an annular gap with the cylindrical portion, and a hand-driving-shaft penetrating portion penetrated by a second hand driving shaft rotating a hand interface by rotation of the first hand driving shaft being transmitted thereto, and a cable, which comes out of a second arm from a wrist supporting portion, is drawn into the wrist housing from the annular gap and is routed to a hand interface supporting portion in a slackened state.