| 摘要 |
<p>A walking machine (10) comprising a body, (11) six leg frames (13) mounted on the body for pivotal movement about six parallel, spaced axes, the axes being located at the vertices of a hexagon, each of the leg frames being mounted for pivotal movement through an angle greater than 120 DEG , a leg mechanism (12) mounted on each of the leg frames, each leg mechanism including a foot (28), a drive mounted on the body for controlling the pivotal movement of each of the leg frames, a drive (33) mounted on each of the leg frames for controlling movement of each foot in a direction parallel to the axes, and a drive (40) mounted on each of the leg frames for controlling the movement of each foot in a radial direction.</p> |
