| 摘要 |
PROBLEM TO BE SOLVED: To provide a walking device which is particularly applicable to a robot, can drastically improve energy efficiency for walking, and can circumvent damage at the time of collision. SOLUTION: The walking device comprises at least two foot portions (10A, 10B, 10C, 10D) and a spring/link mechanism (12) mounted on the foot portions. The foot portions perform walking motion by vibratingly driving the entire system of the spring/link mechanism. The walking device further comprises actuators (34, 46) arranged on the spring/link mechanism, for vibratingly driving the spring/link mechanism. The spring/link mechanism includes a plurality of elastic spring elements. During one stepping motion of the foot portions, a part of kinetic energy and potential energy is held in a part of a number of the elastic spring elements as elastic energy which is then released as kinetic energy during the following stepping motion. COPYRIGHT: (C)2005,JPO&NCIPI
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