| 摘要 |
PROBLEM TO BE SOLVED: To perform traveling (walking) by the same steerage as a motorbike or a bicycle by performing steerage on the front leg side through a process of reversely making use of instability of a linear walking mechanism. SOLUTION: A four legged traveling device 5 mounted on a traveling body 1 and to travel with four legs 26, 27, 58, 59, the four legged traveling device is composed of a front part dummy straight line creating unit 11 provided with a pair of right and left leg parts 26, 27 to be attached to the front part of the traveling body, and a rear part dummy straight line creating unit 45 provided with a pair of right and left leg parts 58, 59 to be attached to the rear part of the traveling body. The right and left front legs and the right and left rear legs are linked to operating parts 62a, 62b of an approximately five sections link mechanism, respective operating parts are consecutively operated by a first driving source 6, and a stride G2 similar to a four-footed animal is applied to the front and rear legs. |
