Foot transmission structure of foot type robot and foot type robot

Abstract

The utility model provides a foot transmission structure of a foot-type robot and the foot-type robot, the foot transmission structure of the foot-type robot comprises: a rocker arm; one end of the connecting rod is used for being in transmission connection with a foot of the foot type robot, the other end of the connecting rod is in running fit with the rocker arm, and the connecting rod is detachably connected with the rocker arm; and the gear is detachably mounted on the rocker arm. Compared with the prior art, the foot transmission structure of the foot type robot has the advantages that the gears and the connecting rods can be detached independently, so that maintenance and implementation are facilitated, the commonality of parts is high, cost is reduced, the overall structural strength and rigidity are high, and compared with welding fixation, the service life of the foot transmission structure is prolonged. The foot transmission structure of the foot type robot is higher in overall precision, and the transmission efficiency of the foot transmission structure can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a foot transmission structure of a foot-type robot and the foot-type robot. Background Art

[0002] Robots are hailed as the "crown jewel of manufacturing." The development of the robotics industry is crucial for improving innovation, enhancing a nation's overall national strength, and driving overall economic development. In my country, robotics technology innovation and industrial development are both crucial. As the most important development area for future intelligent mobile service robots, dexterous, maneuverable, and autonomous legged robots are becoming a key research focus for the next generation of intelligent mobile robots, with countries around the world actively pursuing their development.

[0003] To reduce the overall calf inertia, legged robots move the calf joint motor up to the hip. This motor is connected to the calf via a connecting rod. This connecting rod typically consists of a connecting rod, a rocker arm, and a gear. The gear is connected to the calf joint motor, and the rocker arm and gear are integrally formed. Currently, the connecting rod is typically rotated in conjunction with a rotating shaft welded to the rocker arm. This restraint prevents the connecting rod from loosening due to the shaft and gear. This also prevents the connecting rod, rocker arm, and gear from being disassembled. Failure of the connecting rod, rocker arm, or gear requires the shaft and gear to be replaced or removed for repair. Utility Model Content

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide a foot transmission structure of a footed robot and a footed robot.

[0005] One embodiment of the present invention provides a foot transmission structure of a legged robot, comprising:

[0006] rocker arm;

[0007] A connecting rod, one end of which is used for transmission connection with the foot of the legged robot, the other end of which is rotatably engaged with the rocker arm, and the connecting rod and the rocker arm are detachably connected;

[0008] A gear is detachably mounted on the rocker arm.

[0009] In some optional embodiments, the rocker arm includes two fixed plates arranged relatively spaced apart, the gear part is arranged between the two fixed plates and is detachably connected to the two fixed plates, the other end of the connecting rod is arranged between the two fixed plates and is rotatably engaged with the two fixed plates, and the other end of the connecting rod is detachably connected to the two fixed plates.

[0010] In some optional embodiments, both of the fixing plates are provided with a first mounting hole, and the gear is provided with a first locking member and a second mounting hole corresponding to and connected to the first mounting hole; the first locking member is tightly fitted with the first mounting hole and the second mounting hole, so that the gear and the two fixing plates can be disassembled and assembled.

[0011] In some optional embodiments, a first radial positioning portion is provided on the rocker arm, and a second radial positioning portion is provided on at least one side of the gear, and the first radial positioning portion is positioned and matched with the second radial positioning portion.

[0012] In some optional embodiments, the first radial positioning portion is a positioning groove, and the second radial positioning portion is a positioning boss, wherein the positioning boss extends into the positioning groove to limit the movement of the gear relative to the rocker arm in the radial direction of the gear;

[0013] Alternatively, the first radial positioning portion is a positioning boss, the second radial positioning portion is a positioning groove, and the positioning boss extends into the positioning groove to limit the radial movement of the gear relative to the rocker arm toward the gear.

[0014] In some optional embodiments, a circumferential positioning portion is provided on the rocker arm, and the circumferential positioning portion cooperates with the gear limiter to limit the circumferential rotation of the gear relative to the rocker arm.

[0015] In some optional embodiments, the gear is an incomplete gear, a contact surface is provided on one side of the incomplete gear, and the circumferential positioning portion contacts and cooperates with the contact surface to limit the circumferential rotation of the gear relative to the rocker arm.

[0016] In some optional embodiments, the rocker arm is provided with an extension arm extending beyond the gear, the extension arm is provided with a first assembly hole, the connecting rod is provided with a second assembly hole corresponding to and connected to the first assembly hole, the foot transmission structure also includes a rotating shaft, the rotating shaft is passed through the first assembly hole and the second assembly hole, the rotating shaft is detachably connected to the extension arm, and the connecting rod is rotatably matched with the rotating shaft.

[0017] In some optional embodiments, the end of the rotating shaft is provided with a third assembly hole corresponding to the first assembly hole, and a limiting portion is provided between the two ends of the rotating shaft. The foot transmission structure also includes a second locking member and a gasket, and the gasket is provided with a fourth assembly hole. The outer diameter of the gasket is larger than the outer diameter of the first assembly hole, and the second locking member is tightly fitted with the fourth assembly hole and the third assembly hole to detachably clamp the limiting portion and the gasket with the extension arm.

[0018] Another embodiment of the present invention provides a legged robot, comprising: a foot transmission structure of the legged robot as described above.

[0019] Compared with the existing technology, in the foot transmission structure of the foot-type robot of the utility model, the gears and connecting rods can be disassembled separately, which is conducive to maintenance implementation. The parts have strong commonality, which is conducive to reducing costs. The overall structural strength and rigidity are high. Moreover, compared with welding fixation, the overall precision of the foot transmission structure of the foot-type robot of the utility model is higher, which is conducive to improving the transmission efficiency of the foot transmission structure.

[0020] In order to more clearly understand the present invention, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a foot transmission structure of a foot-type robot according to an embodiment of the present invention;

[0022] Figure 2 An exploded view of the foot transmission structure of a foot-type robot according to one embodiment of the present invention;

[0023] Figure 3 This is a schematic structural diagram of one side of a foot transmission structure of a foot-type robot according to one embodiment of the present invention;

[0024] Figure 4 for Figure 3 A cross-sectional view along section line A is shown.

[0025] Description of reference numerals:

[0026] 10. Rocker arm; 11. Fixing plate; 111. First mounting hole; 112. First assembly hole; 12. First radial positioning portion; 13. Circumferential positioning portion; 14. Extension arm; 20. Connecting rod; 21. Second assembly hole; 30. Gear; 31. Second mounting hole; 32. First locking member; 33. Second radial positioning portion; 34. Interference surface; 40. Rotating shaft; 41. Third assembly hole; 42. Limiting portion; 50. Second locking member; 60. Gasket; 61. Fourth assembly hole. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the description of the present invention, unless otherwise specified, "multiple" means 2 or more, and "several" means 1 or more. In addition, unless otherwise specified, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0030] In the description of this utility model, reference to the terms "one embodiment," "some optional implementations," or "some optional embodiments" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0031] To reduce the overall calf inertia, legged robots move the calf joint motor up to the hip. This motor is connected to the calf via a connecting rod. This connecting rod typically comprises a connecting rod, a rocker arm, and a gear. The gear is connected to the calf joint motor, and the rocker arm and gear are integrally formed. Currently, the connecting rod is typically rotated in conjunction with a rotating shaft welded to the rocker arm. This restraint prevents the connecting rod from loosening due to the shaft and gear. This also prevents the connecting rod, rocker arm, and gear from being disassembled. Failure of the connecting rod, rocker arm, or gear requires the shaft and gear to be replaced or removed for repair.

[0032] In the present invention, the gears and connecting rods are detachably matched with the rocker arms, which makes it convenient to inspect and replace the gears, rocker arms and connecting rods separately. Moreover, compared with the welding method, the gears, connecting rods and rocker arms in the embodiment of the present invention are fastened to each other in a more stable manner, with higher precision and higher transmission efficiency.

[0033] See also Figure 1 One embodiment of the present invention provides a foot transmission structure of a legged robot, comprising:

[0034] Rocker arm 10;

[0035] A connecting rod 20, one end of which is used for transmission connection with the foot of the legged robot, and the other end of the connecting rod 20 is rotatably matched with the rocker arm 10, and the connecting rod 20 and the rocker arm 10 are detachably connected;

[0036] The gear 30 is detachably mounted on the rocker arm 10 .

[0037] The connecting rod 20 and the gear 30 can be removed from the rocker arm 10 separately, so that the connecting rod 20 and the gear 30 can be easily inspected and replaced separately, which reduces the cost and is also conducive to improving the flexibility and commonality of parts use.

[0038] See also Figure 2In some optional embodiments, the rocker arm 10 includes two fixed plates 11 spaced apart from each other. The gear 30 is partially disposed between the two fixed plates 11 and is detachably connected to both fixed plates 11. The other end of the connecting rod 20 is disposed between the two fixed plates 11 and is rotationally engaged with both fixed plates 11. The other end of the connecting rod 20 is detachably connected to both fixed plates 11. The two fixed plates 11 cooperate to clamp the gear 30 and connecting rod 20, making the gear 30 and connecting rod 20 more stably fixed, which helps to improve the strength and rigidity of the overall structure. Furthermore, the gear 30 transmits force to the connecting rod 20 through the two fixed plates 11, which also makes the force applied to the connecting rod 20 more stable and improves the overall transmission efficiency. Of course, the structure of the rocker arm 10 is not limited to this. Those skilled in the art may also select other suitable structures based on the teachings of the present invention. For example, the rocker arm 10 may be provided with two grooves, forming an H-shape, with the gear 30 and connecting rod 20 respectively disposed in the two grooves.

[0039] See also Figure 2 In some optional embodiments, both fixing plates 11 are provided with a first mounting hole 111, and the gear 30 is provided with a first locking member 32 and a second mounting hole 31 corresponding to and communicating with the first mounting hole 111; the first locking member 32 is tightly coupled with the first mounting hole 111 and the second mounting hole 31, so that the gear 30 and both fixing plates 11 can be removably assembled. By removing the first locking member 32, the locking of the gear 30 can be released, allowing the gear 30 to be removed from the fixing plate 11 for easy inspection and replacement. In this embodiment, the fixing plate 11 is provided with a plurality of first mounting holes 111, and the plurality of first mounting holes 111 are arranged sequentially along the circumference of the gear 30. The gear 30 can be provided with a plurality of first locking members 32. The number of first locking members 32 can be appropriately designed according to actual needs. For example, the number of first locking members 32 and the number of second mounting holes 31 can be the same as the number of first mounting holes 111. The first locking members 32 pass through the first mounting holes 111 and then connect with the second mounting holes 31. Of course, the number of first locking members 32 and the number of second mounting holes 31 can both be less than the number of first mounting holes 111, or alternatively, the number of first locking members 32 can be less than the number of first mounting holes 111 and second mounting holes 31. The first locking members 32 can be inserted into appropriate first mounting holes 111 and second mounting holes 31 as required, thereby reducing costs. Furthermore, the circumferential arrangement of the multiple first mounting holes 111 allows the two fixing plates 11 to be interchanged relative to the gear 30, improving the versatility of the fixing plates 11.

[0040] The first locking member 32 may be a bolt, a screw, a latch, etc., but is not limited to these examples.

[0041] In addition, since the rocker arm 10 and the gear 30 are usually formed as one piece in the prior art, the rocker arm 10 extends from one side of the gear 30. When the gear 30 rotates, the force on the rocker arm 10 acts on the connection position between the gear 30 and the rocker arm 10, which can easily cause the connection position between the gear 30 and the rocker arm 10 to break. The design of the rocker arm 10 in the utility model facilitates and simplifies the structure of the gear 30, avoids directly designing a structure that is detachably connected to the connecting rod 20 on the gear 30, and is beneficial to improving the structural strength of the gear 30. Moreover, the force acting on the gear 30 is dispersed on the two fixed plates 11, which can improve the force balance between the gear 30 and the rocker arm 10 and improve the structural strength.

[0042] See also Figures 2 to 4 In some optional embodiments, a first radial positioning portion 12 is provided on the rocker arm 10, and a second radial positioning portion 33 is provided on at least one side of the gear 30. The first radial positioning portion 12 and the second radial positioning portion 33 cooperate to positionally cooperate. In this embodiment, the first radial positioning portion 12 is provided on both fixing plates 11, and the second radial positioning portion 33 is provided on both sides of the gear 30. Of course, the first radial positioning portion 12 may be provided on only one of the fixing plates 11, while the second radial positioning portion 33 is provided on only one side of the gear 30. The first radial positioning portion 12 and the second radial positioning portion 33 cooperate to limit radial movement of the gear 30 relative to the fixing plate 11 toward the gear 30, thereby improving the assembly stability between the fixing plate 11 and the gear 30. Furthermore, before installing the first locking member 32, the first radial positioning portion 12 and the second radial positioning portion 33 cooperate to position the gear 30, preventing relative movement of the gear 30 that could cause the first mounting hole 111 and the second mounting hole 31 to deviate from each other.

[0043] See also Figures 2 to 4 In some optional embodiments, the first radial positioning portion 12 is a positioning groove, and the second radial positioning portion 33 is a positioning boss, which extends into the positioning groove to limit the radial movement of the gear 30 relative to the rocker arm 10 in the gear 30 direction; or, the first radial positioning portion 12 is a positioning boss, and the second radial positioning portion 33 is a positioning groove, which extends into the positioning groove to limit the radial movement of the gear 30 relative to the rocker arm 10 toward the gear 30. In this embodiment, the first radial positioning portion 12 is a positioning boss, and the second radial positioning portion 33 is a positioning groove. The positioning boss and the positioning groove cooperate to limit the radial movement of the gear 30 relative to the fixed plate 11 toward the gear 30, thereby improving the stability of the assembly between the fixed plate 11 and the gear 30.

[0044] See also Figures 2 to 4In some optional embodiments, a circumferential positioning portion 13 is provided on the rocker arm 10. The circumferential positioning portion 13 cooperates with the gear 30 to limit the circumferential rotation of the gear 30 relative to the rocker arm 10. The circumferential positioning portion 13 can abut the side of the gear 30 to prevent the gear 30 from rotating. Therefore, when the gear 30 transmits force to the rocker arm 10, the circumferential positioning portion 13 can improve the structural stability of the gear 30 and the rocker arm 10 and prevent the gear 30 and the rocker arm 10 from loosening. In this embodiment, the circumferential positioning portion 13 is provided on both fixing plates 11. Of course, the circumferential positioning portion 13 can also be provided on only one of the fixing plates 11. In addition, before installing the first locking member 32, the circumferential positioning portion 13 can limit the circumferential rotation of the gear 30 relative to the rocker arm 10, preventing the relative movement of the gear 30 from causing the positions of the first mounting hole 111 and the second mounting hole 31 to deviate from each other.

[0045] See also Figure 2 In some optional embodiments, the gear 30 is an incomplete gear. A contact surface is provided on one side of the incomplete gear. The circumferential positioning portion 13 contacts and cooperates with the contact surface to limit the circumferential rotation of the gear 30 relative to the rocker arm 10. An incomplete gear means that the number of teeth of the gear 30 is incomplete. The incomplete gear may only have teeth within a predetermined angular range in the circumferential direction. The predetermined angular range is greater than 0° and less than 360°, such as 270°, 240°, 180°, 90°, etc. Since the incomplete gear 30 may not have teeth in certain angular ranges in the circumferential direction, a structure that cooperates with the circumferential positioning portion 13 can be designed at the position where the teeth are not provided. For example, a notch can be provided on the incomplete gear, and the contact surface can be provided inside the notch, with the circumferential positioning portion 13 located inside the notch.

[0046] See also Figure 2 and Figure 3 In some optional embodiments, the rocker arm 10 is provided with an extension arm 14 extending beyond the gear 30. The extension arm 14 is provided with a first assembly hole 112. The connecting rod 20 is provided with a second assembly hole 21 corresponding to and communicating with the first assembly hole 112. The foot transmission structure further includes a rotating shaft 40, which is passed through the first assembly hole 112 and the second assembly hole 21. The rotating shaft 40 is detachably connected to the extension arm 14. The connecting rod 20 rotates in conjunction with the rotating shaft 40. The rotating shaft 40 is detachably connected to the extension arm 14, thereby achieving a detachable connection between the connecting rod 20 and the rocker arm 10. In addition, the rotating shaft 40 can also be detachably connected to the second assembly hole 21 of the connecting rod 20, allowing the rotating shaft 40 and the connecting rod 20 to be separated from each other. When the rocker arm 10 includes two fixed plates 11, both fixed plates 11 are provided with an extension arm 14, and the rotating shaft 40 is detachably passed through the first assembly holes 112 of the two extension arms 14.

[0047] See also Figure 2 and Figure 4The detachable connection method between the rotating shaft 40 and the first assembly hole 112 can be appropriately designed according to actual needs. For example, the rotating shaft 40 and the first assembly hole 112 are clearance-fitted. To improve the stability of the locking, in some optional embodiments, the end of the rotating shaft 40 is provided with a third assembly hole 41 corresponding to and communicating with the first assembly hole 112, and a limiting portion 42 is provided between the two ends of the rotating shaft 40. The foot transmission structure also includes a second locking member 50 and a gasket 60. The gasket 60 is provided with a fourth assembly hole 61. The outer diameter of the gasket 60 is larger than the outer diameter of the first assembly hole 112. The second locking member 50 is tightly matched with the fourth assembly hole 61 and the third assembly hole 41 to detachably clamp the limiting portion 42 and the gasket 60 to the extension arm 14, thereby achieving a detachable connection between the rotating shaft 40 and the first assembly hole 112, and the rotating shaft 40 can be stably locked. The second locking member 50 can be a bolt, a screw, a latch, etc., without limitation.

[0048] In this embodiment, both fixing plates 11 are provided with a first assembly hole 112, the rotating shaft 40 is passed through the two first assembly holes 112, the third assembly hole 41 of the rotating shaft 40 is connected to one of the first assembly holes 112, and the second locking member 50 detachably clamps the gasket 60 and the limiting portion 42 with the extension arm 14 of one of the fixing plates 11. Since the position between the two fixing plates 11 is fixed, the rotating shaft 40 is locked on one of the fixing plates 11, so that the rotating shaft 40 cannot achieve axial movement and circumferential rotation relative to the first assembly hole 112, and the two first assembly holes 112 can cooperate to limit the radial movement of the rotating shaft 40, so the rotating shaft 40 is in a stably locked state. In order to simplify the structure, the rotating shaft 40 and the first assembly hole 112 of the other fixing plate 11 may not be locked.

[0049] The aforementioned foot transmission structure of a legged robot can be applied to a legged robot, which includes: the foot transmission structure of a legged robot as described above. In this embodiment, the legged robot includes a body, a thigh, a calf, and a calf joint motor. The thigh is mounted on the body, the calf rotates in conjunction with the thigh, the rocker arm 10 is rotationally mounted on the thigh, and the connecting rod 20 rotates in conjunction with the calf. The output shaft of the calf joint motor is provided with transmission teeth, which mesh with the gear 30. The calf joint motor drives the gear 30 to rotate via the transmission teeth. The gear 30 drives the connecting rod 20 to move via the rocker arm 10, and the connecting rod 20 drives the calf to rotate. Of course, the structure of the legged robot is not limited to this. The foot transmission structure of the legged robot can be assembled in a suitable manner according to the actual structure of the legged robot.

[0050] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A foot transmission structure of a legged robot, characterized in that: include: rocker arm; A connecting rod, one end of which is used for transmission connection with the foot of the legged robot, the other end of which is rotatably engaged with the rocker arm, and the connecting rod and the rocker arm are detachably connected; A gear is detachably mounted on the rocker arm.

2. The foot transmission structure of a legged robot according to claim 1, characterized in that: The rocker arm includes two fixed plates arranged relatively spaced apart, the gear part is arranged between the two fixed plates and is detachably connected to the two fixed plates, the other end of the connecting rod is arranged between the two fixed plates and is rotatably engaged with the two fixed plates, and the other end of the connecting rod is detachably connected to the two fixed plates.

3. The foot transmission structure of a legged robot according to claim 2, characterized in that: Both of the two fixing plates are provided with a first mounting hole, and the gear is provided with a first locking member and a second mounting hole corresponding to and connected to the first mounting hole; the first locking member is tightly fitted with the first mounting hole and the second mounting hole, so that the gear and the two fixing plates can be disassembled and assembled.

4. The foot transmission structure of a legged robot according to claim 1, characterized in that: The rocker arm is provided with a first radial positioning portion, and at least one side of the gear is provided with a second radial positioning portion, and the first radial positioning portion is positioned and matched with the second radial positioning portion.

5. The foot transmission structure of a legged robot according to claim 4, characterized in that: The first radial positioning portion is a positioning groove, and the second radial positioning portion is a positioning boss, wherein the positioning boss extends into the positioning groove to limit the movement of the gear relative to the rocker arm in the radial direction of the gear; Alternatively, the first radial positioning portion is a positioning boss, the second radial positioning portion is a positioning groove, and the positioning boss extends into the positioning groove to limit the radial movement of the gear relative to the rocker arm toward the gear.

6. The foot transmission structure of a legged robot according to claim 1, characterized in that: The rocker arm is provided with a circumferential positioning portion, and the circumferential positioning portion cooperates with the gear limiter to limit the circumferential rotation of the gear relative to the rocker arm.

7. The foot transmission structure of a legged robot according to claim 6, characterized in that: The gear is an incomplete gear, and a contact surface is provided on one side of the incomplete gear. The circumferential positioning portion contacts and cooperates with the contact surface to limit the circumferential rotation of the gear relative to the rocker arm.

8. The foot transmission structure of a legged robot according to any one of claims 1 to 7, characterized in that: The rocker arm is provided with an extension arm extending beyond the gear, the extension arm is provided with a first assembly hole, the connecting rod is provided with a second assembly hole corresponding to and connected to the first assembly hole, the foot transmission structure also includes a rotating shaft, the rotating shaft is passed through the first assembly hole and the second assembly hole, the rotating shaft is detachably connected to the extension arm, and the connecting rod is rotatably matched with the rotating shaft.

9. The foot transmission structure of a legged robot according to claim 8, characterized in that: The end of the rotating shaft is provided with a third assembly hole corresponding to the first assembly hole, and a limiting portion is provided between the two ends of the rotating shaft. The foot transmission structure also includes a second locking member and a gasket, and the gasket is provided with a fourth assembly hole. The outer diameter of the gasket is larger than the outer diameter of the first assembly hole. The second locking member is tightly matched with the fourth assembly hole and the third assembly hole to detachably clamp the limiting portion and the gasket with the extension arm.

10. A legged robot, characterized in that: include: A foot transmission structure for a legged robot as claimed in any one of claims 1 to 9.

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