| 摘要 |
PROBLEM TO BE SOLVED: To realize smooth bipedality similar to the mode of walk of a human by a simple and inexpensive composition. SOLUTION: Ground touching plates 42 and 52 of feet 40 and 50 mounted to the lower ends are rotated by nearly parallelogram crank mechanisms of both legs 20 and 30 of a robot body 1, drawing an elliptical trail and putting the right and left parts into opposite phases. A walking surface 4A is formed of an iron and electromagnets 43 and 53 are provided to both feet 40 and 50 so that a magnetic force may be produced on the foot touching the walking surface 4A and the electromagnets are turned off on the foot raised, the electromagnets 43 and 53 are controlled so as to turn on and off, synchronously with the rotation of the legs 20 and 30, whereby attraction between the electromagnets 43 and 53 and the walking surface 4A by a magnetic force achieves support by one leg and the rotation of the legs 20 and 30 provides vertical motion of the feet 40 and 50 and a forward and rearward propelling force.
|
