In a legged mobile robot (10) having a motor (42) that rotates the ankle
joint (26R (26L)) about a right-and-left axis of the robot (26RY (26LY))
and a speed reducer (58) that reduces speed of an output of the motor,
wherein the motor is disposed at a same position as the knee joint (22R
(22L)) or at the thigh link (16R (16L)) such that the speed reducer is
disposed at the shank link. With this, it becomes possible to reduce the
weight of the distal end of the leg (12R (12L)) can be reduced, whereby
enabling to reduce the inertial force generated in the leg during
movement or locomotion of the robot.
