| 摘要 |
PROBLEM TO BE SOLVED: To establish biped running and walking with vitality, while eliminating an actuator or the like for biped running and walking and also a control means therefor. SOLUTION: A biped running/walking mechanism according to the invention is equipped with a leg joint part 1 in which a left 3L and a right leg 3R are coupled in such an arrangement that their toes can be moved alternately forward and backward, a balancer 5 installed over the leg joint part 1, a waist joint part 4 interposed between the leg joint part 1 and the balancer 5 and able to exert a snap force to tilt the balancer 5 to the left or the right, and from the tilted attitude, tilt it further to the tilting attitude on the other side upon getting over the upright attitude, and a changeover means to let the balancer 5 get over the upright attitude and change over the tilting attitude of the balancer 5 to the other side, wherein coupling of the leg joint part 1 is made so that leg on one side is moved backward by the swing force of the waist joint part 4 when the tilting attitude of the balancer 5 is changed over to the other side by the changeover means while the leg on the other side is moved forward in such a way as interlocking with the leg on the first named side. COPYRIGHT: (C)2008,JPO&INPIT
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