A landing shock absorbing device 18 disposed in a foot mechanism 6 of a
leg of a robot, wherein an inflatable bag-like member 19 (variable
capacity element) is provided at a bottom face side of the foot mechanism
6. The bag-like member 19 is constructed of an elastic material such as
rubber. The air in atmosphere may flow into and out of the bag-like
member 19 by inflow/outflow means 20 equipped with a solenoid valve 27,
and the like. In a lifting state of the foot mechanism 6, inflow of the
air into the bag-like member 19 is controlled, thereby controlling the
final height of the bag-like member 19 in an inflated state to the height
in response to a gait type of the robot. While properly reducing an
impact load during a landing motion of the leg of a legged mobile robot
depending on the gait type of the robot, stability of a posture of the
robot may easily be secured, resulting in allowing a configuration to be
lighter in weight.
