抄録
The rational formula and structure formula of robots were proposed. The axis direction of the motor which composes a robot is classified by Roll axis, Pitch axis and Yaw 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 "Humamoid-16DOF=Head-Y-Arm-Y-Leg (Arm=Pr-0-0)_2(Leg=RP-p-PR)_2". The rational formulas and structure formulas of robots were applied to robots with legs and wheels. And, the ROBO-BLOCK (robot block system, first stage prototype) was proposed.
