| 摘要 |
PURPOSE:To make the said walking motion attainable with a simple structure, by installing a rotary disc of moment of inertia size in a robot body so as to make a rotary shaft to be almost parallel in time of walking, in case of a walking robot which performs the walking motion as lifting up a symmetrical pair of legs alternately in regular sequence. CONSTITUTION:In a state that a rotary disc 3 being supported inside a robot body 1 rotatably around a rotary shaft 2 is rotated at high speed by a motor 15, when moment M is added to the rotary shaft 2 so as to cause both ends of the shaft to be tilted downward, the rotary shaft 2 gets rotating in an arrow B direction inside a level surface being orthogonal with it without tilting toward the moment M. At this time, one end of the rotary shaft 2 is supported by a leg 4 so that the robot body 1 gets rotating slowly around the leg 4 at the grounding side. And, at the point that the specified angle rotation takes place, a leg being so far lifted up is made to extend over for grounding and, after the other side leg 4 is relatively lifted up simultaneously, made to work in the reverse direction this time. Afterward, with repetition of the said work, the robot body is made to perform the walking motion. |
