Examination of RAA-oriented Boarding-type Walking Robot

This paper presents an RAA-oriented boarding-type walking robot that can walk outdoors. The user straddles the robot similar to when horse riding. The same physical and mental effect as that experienced when horse riding can be expected. The robot is constructed using a Chebyshev link mechanism. The Chebyshev link converts the circular motion of the actuator into a straight-line movement. The robot's dimensions are: length=896 mm, width=440 mm, and height=1285 mm