| 摘要 |
An apparatus that is capable of achieving self-synchronized walking and turning includes a first motor that is attached to the apparatus that is in communication with a first limb and a second motor, independent from the first motor, that is attached to the apparatus and is in communication with a second limb. Initially, the lateral phase differential is set at 180 degrees and is maintained by a dampening mechanism that is interposed between the two limbs, or other movable members mechanically linked thereto, making sure that apparatus walks in a straight line. Regulators may forcibly upset this balance by speeding up one of the motors, thereby overcoming the force exerted by the damper mechanism, causing one limb to move faster than the other limb. This results in the apparatus turning in a prescribed radius. Finally, the regulators may withdraw their disturbing force, thereby allowing the force supplied by the dampening mechanism to slow down the faster moving limb until a lateral phase differential of 180 degrees is restored. This results in the apparatus walking in a straight line once more. This method of walking and turning works whether the apparatus is walking in a forward or reverse direction. Alternatively, a counter-phase differential of 90 degrees can be used to cause the apparatus to turn on its axis.
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