FIELD: machine building.
SUBSTANCE: invention relates to propulsors of vehicles and robotics. Leg of the walking apparatus includes a fastening assembly, to which the upper part of the hip is hingedly attached, and shank and foot connected to it and to each other by means of hinges, having drives. Each drive includes a sealed enclosure enveloping the hinged joint and forming a sealed chamber. Chamber is configured to be connected to supply line by working medium. Envelope of hip drive is fixed on fastening assembly and covers upper part of hip. Hip and shin drive is fixed on the lower part of the hip and upper part of the shin. Envelope of displacement of foot relative to shin is fixed on lower part of shin and upper surface of foot.
EFFECT: simplified design and control.
1 cl, 8 dwg
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