| 摘要 |
PURPOSE:To adjust the phase of left and right feet and control the drive speed by linking a pair of left and right feet via a drive regulation device. CONSTITUTION:In case there is a relative phase lag of 180 deg. between left and right feet 31 and 32 on chains 33 and 34, when a drive device 35 is driven at the stopped state of a drive device 61, feet 31 and 32 are driven at an equal speed oppositely to each other. In case left and right feet 31 and 32 are brought into the same phase by the drive device 61 in a drive regulation device 60, when the drive device 35 is driven, left and right feet 31 and 32 are driven perfectly at the same phase and the same speed. Meanwhile, when drive devices 35 and 61 are simultaneously driven and one output shaft of a differential gear 62 is rotated at a fixed reference speed, another output shaft is rotated at a required speed, and the drive speed of a foot 31 or 32 can be controlled optionally. |
