Passive walking apparatus and passive walking module

摘要

A passive walking apparatus (100) according to one embodiment includes a hip portion (1), a first leg (21), a second leg (22), and a crank mechanism (3) including a first-leg-side crank portion (31), a second-leg-side crank portion (34), a crankshaft (33), a first-leg-side connection portion (32), and a second-leg-side connection portion (35). When the first leg (21) moves rearward from the front relatively to the hip portion (1) as being in contact with a walking surface (GR), the first-leg-side connection portion (32) has the first-leg-side crank portion (31) pivot, the first-leg-side crank portion (31) has the second-leg-side crank portion (34) pivot around the crankshaft (33), and the second-leg-side crank portion (34) moves the second leg (22) forward from the rear relatively to the hip portion (1) with the second-leg-side connection portion (35) being interposed.