A two-legged walking robot includes a pair of foot members a calf member
provided above each foot member, a double-axis ankle joint provided
between the foot member and the calf member to allow the foot member to
rotate relative to the calf member in forward and backward directions and
in right and left directions. The robot also includes a femoral member
provided above each calf member, a single-axis knee joint provided
between the calf member and the femoral member, a hip member provided
above the femoral member, and a double-axis hip joint provided between
the femoral member and the hip member to allow the femoral member to
rotate relative to the hip member in the forward, backward, right, and
left directions. Thus, the two-legged walking robot operates similar to a
human ankle, knee and hip.