| 摘要 |
PURPOSE:To obtain an easily steerable multi-leg walking system which can move smoothly and stably by rotary displacing the base of non-landing leg against the base of landing leg. CONSTITUTION:Bases 23a, 23b are coupled through a rotary shaft and adavnce/ retreat integrally while rotary displacable relatively against the vertical axis 22. Under the state where said bases are overlapped completely while the legs F1, F2, F3 are grounded and the legs F1', F2', F3' are separated from the ground face, slewing motor at the bottom of the other base 23b is driven to transmit the rotation through a chain sprocket and chain to the base 23a and slew the other base 23b as the reaction of grounding of one base 23a. Said operation is repeated to perform steering of random angle. |
