| 摘要 |
PURPOSE:To make it simple to perform both synchronizing and individual drives for a pair of feet by driving a pair of feet with a single main motor and a submotor provided for each foot. CONSTITUTION:A main shaft 5 driven by a main motor 1 through a transmission system 4, is provided with a pair of differential gear units 6a and 6b. The differential gear units receive a rotating drive from sub-motors 2a and 2b. The rotation output from the sum and difference of the rotation of the main motor 1 is transmitted to output shafts 7a and 7b in proportion to the rotating direction. Therefore, the sub-motors 2a and 2b are individually controlled. |
