To provide a device which is moved in either traveling type of leg-type walking and wheel-type rolling by switching as freely required.
Two rotary driving forces are transmitted to coxa shafts 3 by two concentric cylindrical shafts, two arms extending in the opposite directions are rotated by one of them, and the legs 6, 6 around knee joints at tips of both arms are oscillated by the other thereof. Circular frames 4 having a radius larger than the radius of rotation of knee joints 5, 5 around the coxa shafts 3 are fixed to the arms, and the outer sides thereof are served as wheels. Three kinds of programs: a leg type program for generating a standing leg phase with the leg 6 directed substantially to the ground side; a wheel type program for making the leg be on standby in free leg phase toward substantially ceiling side; and a program smoothly connecting both of them, are previously stored in a leg posture control device. A user can ride on the device without adding or replacing a special mechanical element only by switching an execution program and use both moving types of leg type walking (A) and wheel type rolling (B) by automatic switching.
| JPS60148780A | 1985-08-06 | |||
| JP2005335513A | 2005-12-08 | |||
| JP2005103725A | 2005-04-21 | |||
| JPS6261485U | 1987-04-16 |
Shimizu Sakaematsu
Kuniaki Toyama
Masayoshi Yoshida