WALKING BIONIC APPARATUS Russian patent published in 2007 - IPC B25J11/00 B25J13/08 

FIELD: machine engineering, possibly designs of walking robots (apparatuses).

SUBSTANCE: walking bionic apparatus includes foot, elastic vertically standing rod of shin joined with foot through joining member of articulation joint for forming zone of shin-foot articulation, control unit. Strain gages connected with strain gage amplifier are arranged in foot. Said amplifier is connected with adder of control unit. Apparatus includes in addition winding connected with amplifier and having iron core inside it; permanent magnet, electromagnet with core of magnetic material secured to rod of shin and connected with power amplifier of control unit. Guide members, return spring joined with free end of shin rod and with upper bearing unit are arranged along shin. Bionic unit for motion control of walking apparatus includes controlled one-shot multi-vibrator connected with pulse generator. The last is connected with pulse amplifier, adder and with inlet of amplitude detector with regulating shunting circuit. Said detector is connected with power amplifier, integrating circuit, variable capacitor and phase inverter.

EFFECT: enhanced smoothness of foot motion of walking apparatus due to elimination of overshooting of rear pushing, quick response of bending process depending upon relief of landscape and motion rate.

13 dwg