Abstract: A hip joint structure of a robot includes a pair of thigh base-end members and a pillar-shaped pelvis member disposed so as to be sandwiched between the pair of thigh base-end members. A flange part is formed in each of left and right end parts in a front surface of the pelvis member, and each of left and right end parts in a rear surface of the pelvis member by a recess extending in the vertical direction. The flange part is fastened to the thigh base-end member by a fastening member.

Abstract: A hip joint structure of a robot includes a pair of thigh base-end members and a pillar-shaped pelvis member disposed so as to be sandwiched between the pair of thigh base-end members. A flange part is formed in each of left and right end parts in a front surface of the pelvis member, and each of left and right end parts in a rear surface of the pelvis member by a recess extending in the vertical direction. The flange part is fastened to the thigh base-end member by a fastening member.

Abstract: A knee structure of a robot in which a torque needed for an actuator bending a knee is kept small, when bending the knee shallowly. A leg includes a thigh, a lower leg disposed below the thigh, a knee joint bendably connecting the thigh with the lower leg, and a rubber member attached to the thigh and the lower leg so as to be across the thigh and the lower leg, with a slack when the leg stands straight. A restoring force caused by the rubber member is given to the thigh and the lower leg, when the leg is bent deeply so that the rubber member is stretched.