| 摘要 |
PURPOSE:To enable a machine of easily stepping up and down stairs or the like and moving in all directions by providing the machine with four driving legs of which each has four degrees of freedom and two supplementary legs each of which has one degree of freedom. CONSTITUTION:When driving on the flat ground, the machine runs with four driving legs 4a to 4d, with two supplementary legs 7a and 7b pulled upward. Since each of the driving legs may be individually changed in direction and has a driving wheel 6 which can be driven independently, the machine is capable of moving in all directions. In case of stepping or up down stairs, the supplementary leg 7a and two driving legs 4c and 4d support the machine on a stair 11 and two driving legs 4a to 4b positioned at the front part thereof are brought onto the subsequent stair, using joint parts 5. With the driving legs 4a and 4b and the supplementary leg 7b supporting the moving machine body 10, the driving legs 4c and 4d are brought onto the other step. |
