| 摘要 |
PURPOSE:To provide a four-leg walking machine in simple construction by furnishing four legs capable of relative displacement in vertical direction, equipping them with possibility of shifting the center of gravity, and thereby eliminating excessive degree of freedom. CONSTITUTION:This four-leg walking machine has two rigid frames 2, 3, which are formed separately and capble of relative displacement. These frames 2, 3 are coupled together through an expansion frame 4. Legs 5, 6, 7, 8 are displaceable in the vertical direction with respect to each of the frames 2, 3 to which they are fixed, and this vertical motion of each leg is driven by either of the motors 11, 12, 13, 14 mounted on the frames 2, 3. Further is installed a balance 23, which is rotatable round a rotary shaft 22 and capable of relative rotational displacement with the body 21. This balance 23 is to restrict location of the center of gravity of this four-leg walking machine, and its rotational position will determine the center of gravity. |
