抄録
The rational formula of robots was proposed. The axis direction of the motor which composes a robot is classified by Yaw axis, Roll axis and Pitch axis. When there is a motor on the body side, the initial of axis is written with a capital letter, and written with a small letter in case of opposition. The leg of SANSYRO II developed in this laboratory can be written with "Leg=RP-p-PR". The whole structure of the robot is expressed as rational formula of the robot to show molecule structure in chemistry. SANSYRO II is expressed as a rational formula of the robot with "16=Head-Y-Arm-Y-Leg(Arm=Pr-0-0)_2(Leg=RP-p-PR)_2". And, the first stage prototype was proposed. Servo-motors, C form parts and box parts are combined, and the trial production of the robot can be done easily.
