Searching Ancient Inventions from Modern Techniques- A Research of Walking Horses with 8-Link Type Leg Mechanisms

摘要

According to ancient documentation, a legendary novelty "Wooden Horse Carriage" was invented by a master carpenter Lu Ban during the period of China's Era of Spring and Autumn. In modern times, a Chinese researcher Wang Chien restored a "Wooden Horse Carriage" walking machine that mimicked horses' walking manners using mechanical legs depended on little literature and conjectures. Based on Wang's work and optimization techniques, this study develops a quadruped walking machine that was actuated by the variable-speed cranks of leg mechanisms. This robot balances itself during walking locomotion without the help of a carriage.