Bipedal walking robot, preferably walking the stairs

摘要

bipedal robot walking, especially the stairs, built so that leg (1) is connected suwliwie with body (2), which is connected suwliwie also leg (3). the legs (1) is attached drive (4), whose axis is fixed rate (6). similarly to the legs (2), a drive (5) with a foot (7).with body (2) is connected with a toothed wheel (8), associated with legs (1 and 3), causing its movement posuwisty. with body (2) is connected and drive (9) weight stability (10). after using the drive (9) displacement of the weight (10) in the direction of the stability, the centre of gravity of the robot is moving over a foot (1), causing its sustainability.the turnover wheel (8) combined movement causes toothed legs (1 and 3), which prepares the job to draw up the stairs. the work is performed by the turnover rate (6) using a drive (4) combined with a leg (1). cycle out work is as follows. in turn the system around the feet podpieraju0105cej (6).this corresponds to the step, the length of which depends on the distance between the feet (6 and 7) and the angle of the market. the alternate becoming job on one or other foot linked to turnover rate podpieraju0105cej causes most likely work. big feet (6 and 7) allows overcoming the stairs.