| 摘要 |
PURPOSE:To surely carry out a leg movement (walking action) without employing any complex control. CONSTITUTION:End faces of a shaft member 26 transmitting rotational force of a driving source to legs 30 are machined slantingly so as to be fixed to the legs 30 via leg mounting parts 27. The legs 30 are suspendedly supported on a casing 23 by means of a supporting mechanism 50, which can be oscillated around two shafts crossing with the shaft member 26 at right angles. In this structure, circular motions of the slantingly arranged legs 30 can be surely taken out. From these circular motions, vertical (landing) motions and lateral (kicking) motions of leg point parts 31 are taken out, and consequently, a leg movement (walking action) of a leg type moving device 100 can be accomplished. |
