초록 ▼

A machine for arthropod locomotion on a surface includes a bearing structure supported by six limbs centrally and spherically hinged on a sliding block which is mounted on a longitudinal slideway of the structure. Each limb has a free end capable of interacting with the surface and an opposite end m

A machine for arthropod locomotion on a surface includes a bearing structure supported by six limbs centrally and spherically hinged on a sliding block which is mounted on a longitudinal slideway of the structure. Each limb has a free end capable of interacting with the surface and an opposite end mounted to the machine, and where each limb is rotationally and slidably mounted with respect to a respective limb vertical axis. The machine includes a motor on the constrained ends, and a motor on the sliding blocks of the slideway, each being interfaced with a control system that creates an interaction between motors so as to lift and forwardly rotate three limbs alternatively placed on two sides of the machine, while the remaining three limbs which are supporting the machine on the surface, are correspondingly rotated in an opposite direction.

대표청구항 ▼

[ What is claimed:] [1.] A machine for arthropod locomotion on a surface, said machine having a longitudinal axis and forward and rearward ends, said machine comprising:a bearing structure generally disposed along said longitudinal axis and having a pair of sides;at least six limbs for supporting th

[ What is claimed:] [1.] A machine for arthropod locomotion on a surface, said machine having a longitudinal axis and forward and rearward ends, said machine comprising:a bearing structure generally disposed along said longitudinal axis and having a pair of sides;at least six limbs for supporting the structure on the surface, each limb having a free end and a constrained end, each limb centrally and spherically hinged on a respective sliding block, each respective sliding block mounted on a respective longitudinal slideway that is supported by the bearing structure, each slideway supported by a pair of longitudinally spaced supports, wherein at least three of said lateral supports from three of said slideways are directly connected to said bearing structure,wherein said free end of each limb is capable of interacting with the surface, and each constrained end is rotatable and slidable with respect to the machine along a respective limb vertical axis;motorization means coupled to each of said constrained limb ends for lifting and lowering the free ends of each said limb with respect to the surface;motorization means coupled with the sliding blocks of each said slideway so as to respectively rotate each limb about said limb vertical axis and to move said limb between a longitudinally advanced and receded position with respect to the structure,a forward rotation of said sliding block motorization means and limb corresponding to limb movement toward said forward end of said machine and a backward rotation of said sliding block motorization means and limb corresponding to a limb movement toward said rearward end of said machine;control means interfaced with each of said motorization means of the respective constrained ends of the limbs and with said respective motorization means of the sliding blocks, said control means causing said limbs to interact with each other, thereby controlling an advancing of the machine on the surface, said advancing occurring with the lifting and the forward rotation of three limbs alternatively placed on the two sides of the machine, while the remaining three limbs sustain the machine on the surface while being simultaneously rotated backwards with respect to the machine.