A humanoid robot including upper limbs, lower limbs, and a trunk. Hip joints
which
connect the lower limbs and the trunk each possess degrees of freedom provided
in correspondence with a hip joint yaw axis, a hip joint roll axis, and a hip joint
pitch axis. The humanoid robot is a leg-movement-type robot which walks on two
feet. By arbitrarily offsetting the hip joint yaw axes in a roll axis direction,
the effects of the movement of the center of gravity occurring when the mode of
use of the robot is changed are accommodated to in order to flexibly balance the
weights of the upper and lower limbs. The waist is made more compact in order to
form a humanoid robot which is well proportioned and which makes it possible to
prevent interference between the left and right feet when the direction of a foot
is changed. Accordingly, a robot which moves naturally and in a way sufficiently
indicative of emotions and feelings using fewer degrees of freedom is provided.
