| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an improved electro-mechanical motor having a non-dynamic or semi-static driving mechanism. <P>SOLUTION: A walking actuator has a plurality of driving elements 14a-d which follows a walking mechanism in a motion relative to a body 22. Driving portions of the drive elements 14a-d are independently movable tangentially and normally to the surface of the body 22. The driving elements 14a-d are driven in the four cycle steps: gripping, moving the body, releasing, and returning to the original position. The driving elements 14a-d are divided into two exclusive sets. Driving of the sets is phase-shifted. At least one of the sets is in contact with the surface of the body 22 at each instant. Driving of the driving elements 14a-d during the gripping sequence is performed, in such a way that the drive elements 14a-d have a velocity with a significant tangential component. <P>COPYRIGHT: (C)2011,JPO&INPIT |
