Passive walking device and passive walking module

摘要

The passive walking device (100) according to one embodiment includes a waist (1), a first leg (21), a second leg (22), a first leg side crank part (31), and a second leg. A crank mechanism (3) having a side crank part (34), a crankshaft (33), a first leg side connecting part (32), and a second leg side connecting part (35) is provided. When the first leg (21) is in contact with the walking surface (GR) and moves from the front to the rear relative to the waist (1), the first leg-side connecting part (32) is the first leg. The side crank part (31) is rotated, the first leg side crank part (31) rotates the second leg side crank part (34) via the crankshaft (33), and the second leg side crank part (34) is rotated. Moves the second leg (22) relative to the waist (1) from the rear to the front via the second leg-side connecting part (35).