Abstract
The improvement of the performance of the leg was done by assembling the elasticity body that muscle was modeled in the leg modeled with servomotor. Three muscles (gluteus maximus, rectus femoris and gastrocnemius) were modeled. The first stage prototype was used in the process of examining the modeled muscles. The first stage prototype is the robot composed of three main parts (Servo-motors, C form parts and box parts) and it can be made easily. After that, the effect of the muscular modeling was confirmed by using original robot SANSYRO II of our laboratory. When elasticity bodies were put, SANSYRO II could lift the weight of maximum 3.75kg (3 times of the tare mass).
