| 摘要 |
An eccentric crankshaft (8) is connected to a rotary driving device (6), and a rocking unit (10) is connected to the eccentric crankshaft (8). Pin roller rolling gear teeth (11), each having a trochoid tooth-shape, are provided in the rocking unit (10). When the rocking unit (11) rocks in accordance with eccentric rotation of the eccentric crankshaft (8), the trochoid shape of the pin roller rolling gear teeth (11) meshes with pin rollers (5a) and thus gives a thrust to the pin rollers (5a), thereby driving footsteps (2).
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