| 摘要 |
PURPOSE: An apparatus for returning walk, method for position the same, apparatus for controlling the same are provided to translate the walk in a horizontal direction stably. CONSTITUTION: An apparatus for returning walk(WK) includes an arm(A1), and a tension provider. The arm(A1) is supported by a terminal, but only one side of the arm is supported. The tension provider provides tension force between the two terminals of the arm to reduce the power of the arm. The tension provider further includes a tension member(8,9) as well as a tension adjustor(10,20). The tension member(8,9) is implemented between the two terminals of the arm. The tension adjustor(10,20) adjusts the tension of the tension member. The tension provider further includes an actuator for controlling the driving of the tension adjustor.
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