

Technical Field



[0001]



The present invention relates to a passive walking device and a passive walking module



Background Art



[0002]

A conventional passive walking device is disclosed in japanese patent application laid-open no. 2011-131677 (1) there is provided a passive walking device according to the present invention. In a passive walking device described in patent document 1, (2つ) of legs and a hip joint including a waist axis. (2つ) of legs are attached to the hip joint by being rotatably connected to the waist shaft

Prior art literature

Patent document



[0003]



Patent document 1: japanese patent application laid-open no. 2011-131677

Summary of the invention



Problem to be solved by the invention



[0004]



In the passive walking device described in patent document 1, (2つ) each of the legs does not have a mechanism operable in cooperation with each other. Thus, in the passive walking device described in patent document 1, it is difficult to stably continue walking



[0005]

The present invention has been made in view of the problem of the prior art. More specifically, provided is a passive walking device capable of stably continuing passive walking





Means for solving the problem



[0006]



A passive walking device according to one aspect of the present invention includes a first side part and a second side part, and a second side part located on the opposite side of the first side part; a first leg connected to the first side part; a second leg, a second leg connected to the second side part, a first leg side crank part provided on the first side part, a second leg side crank part provided on the second side part so as to have a phase opposite to that of the first leg side crank part, a crank shaft for connecting the first leg side crank part and the second leg side crank part, a first leg-side connection part connected to the first leg-side crank part and a second leg-side connection part connected to the first leg-side crank part, and a second leg side connection part connected to the second leg side crank part and the second leg side



[0007]



When the first leg is in contact with the walking surface and moves from front to rear relative to the waist, the first leg side connection part rotates the first leg side crank part, the first leg side crank part rotates the second leg side crank part via the crank shaft. A second leg-side crank part includes a first leg-side crank part and a second leg-side crank part, the second leg is moved from the rear to the front relative to the waist through the second leg-side connection part

Effects of the invention



[0008]



According to the above, the passive walking device can continue stable passive walking