| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable a smooth gait by a simple constitution, in a two-leg type walking device which strikes a balance between a large step and safety. <P>SOLUTION: In the two-leg type walking machine, a support leg and a free leg are interchanged by being rollingly operated in the progressing direction with a common side as a center in a state that a front-end grounding point of a sole corresponding the leg which is grounded and a rear-end grounding point of a sole corresponding to the other leg are positioned on the common side of adjacent isosceles triangles of a zigzag plane roller, and then the right sole and the left sole are sequentially grounded so that the isosceles triangles of the zigzag plane roller are sequentially grounded and progressed when the zigzag plane roller is rolled. When interchanging the support leg and the free leg, an additional sole having an angle deeper than those of the soles is grounded after the soles are grounded. <P>COPYRIGHT: (C)2012,JPO&INPIT |
