本発明は、動物の能力と随意運動の原理に関し、特には自然現象に運動を適応するための機械機構と、その機構を用いて自然動物の随意運動を表現する方法、リンク機構、人工動物、自然動物の随意運動の表現方法、コンピュータグラフィックス及びコンピュータグラフィックスの生成方法に関するものである。
The present invention relates to the principle of animal ability and voluntary movement, and in particular, a mechanical mechanism for adapting movement to a natural phenomenon, a method for expressing voluntary movement of a natural animal using the mechanism, a link mechanism, an artificial animal, The present invention relates to a method for expressing voluntary movements of natural animals, computer graphics, and a method for generating computer graphics.
非特許文献１￣非特許文献８に、動物の随意運動の原理に関する機械機構の、過去の幾多の研究内容が記載されている。
Non-Patent Literature 1 to Non-Patent Literature 8 describe many past research contents of mechanical mechanisms related to the principle of voluntary movement of animals.
１８世紀に開発された動物の運動機構
１７３３年のＭａｉｌｌａｒｄによるオートマタ
・車椅子を牽引する人工馬
・ヴェルサイユ宮殿の水路でゴンドラを牽引する人工海馬
・人工の泳ぐ白鳥とその改良
Ｖｏｎ Ｈａｍｅｌによる馬オートマタ
１７７２年のＣｏｘの時計展覧会での歩く象のメカニズム
（以上は非特許文献１：LE MONDE DES AUTOMATES Chapitre XIX Les Animaux Mecaniques p.144-149)
Animal movement mechanism developed in the 18th century by 1733 Maillard automata, artificial horse towing wheelchairs, artificial hippocampus towing gondola in the waterways of the Palace of Versailles, artificial swans and their modifications Von Hamel horse automata 1772 Elephant walking mechanism at the Cox watch exhibition (Non-Patent Document 1: LE MONDE DES AUTOMATES Chapitre XIX Les Animaux Mecaniques p.144-149)
１９世紀、世界中で大勢のオートマタ製作者達の手によって機械機構による自然動物の運動表現が研究開発された。出来上がった成果は次の世代へと受け継がれ改良されていった。
１９世紀に開発された機械歩行メカニズム：
１８３０年頃、ロンドンでジュネーヴのＣｈ．ＢＲＵＧＵＩＥＲによって制作された歩く魔女のアンドロイド。
１８６２年にロンドンのＡｌｆｒｅｄ ＮＥＷＴＯＮによる発明特許の歩く若い娘のアンドロイド。その原理を元にした改良版レプリカ。
１８９１−１８９３年にアメリカのＧｅｏｒｇｅ ＭＯＯＲＥ教授の発明した蒸気人間オートマタ。
（以上は非特許文献１：ＬＥ ＭＯＮＤＥ ＤＥＳ ＡＵＴＯＭＡＴＥＳ Ｃｈａｐｉｔｒｅ ＸＸＩＩＩ Ｌｅｓ Ａｕｔｏｍａｔｅｓ ｅｔ Ａｎｄｒｏｉｄｅｓ Ｍａｒｃｈａｎｔｓ ｐ．２２０−２２４）
In the 19th century, the movement expression of natural animals by mechanical mechanism was researched and developed by the hands of many automata producers all over the world. The completed results were passed on to the next generation and improved.
Machine walking mechanism developed in the 19th century:
Around 1830, Geneva ’s Ch. A walking witch android produced by BRUGUIER.
The young daughter's android who was invented in 1862 by an invention patent by Alfred NEWTON in London. An improved replica based on that principle.
Steam human automata, invented by Professor George MOORE of the United States in 1891-1893.
(The above is non-patent document 1: LE MONDE DES AUTOMATES Chapter XXIII Les Automates et Androids Marchants p. 220-224)
また非特許文献２〜非特許文献６には以下が記載されている。
１８６７年のＷ．Ｆ．ＧＯＯＤＷＩＮの発明特許である歩く馬のアンドロイド。
１８６８年のＷ．Ｆ．ＧＯＯＤＷＩＮの発明特許である歩く人のアンドロイド。
１８７８年のＡ．Ｊ．ＤＡＶＩＳの発明特許である歩く馬のアンドロイド。
１８９３年のＬ．Ａ．ＲＩＧＧの発明特許の歩く馬のアンドロイド。
Non-Patent Document 2 to Non-Patent Document 6 describe the following.
1867 W.C. F. Walking horse android which is the invention patent of GOODWIN.
W. 1868 F. Android of the pedestrian who is the invention patent of GOODWIN.
1878 A.C. J. et al. The walking horse android which is the invention patent of DAVIS.
L. 1893 A. RIGG's invention patent walking horse android.
２１世紀：２００６，２００７年のサント・クロワのフランソワ・ジュノーとレガネス自治体によるスペイン・プロジェクトでの、上記の技術を元にした改良版レプリカ（老婆、サッカーボールで遊ぶ少年と少女、馬）
21st Century: An improved replica based on the above-mentioned technique (an old woman, a boy and a girl playing with a soccer ball, a horse) at a Spanish project by Francois Juneau of Sainte-Croix and Leganes municipality in 2006 and 2007
また特許文献１には、四本足の乗り物に関する発明が記載されている。この乗り物は、従来、車輪で実現していた部分を二本の棒で実現するというものである。しかし、このままでは、動物に例えると膝の部分までしか動きを実現できず、さまざまな随意運動を表現するのは難しい。
Patent Document 1 describes an invention related to a four-legged vehicle. In this vehicle, a part that has been realized with wheels is realized with two bars. However, in this situation, it is difficult to express a variety of voluntary movements, as it can only move to the knee when compared to animals.
さらに特許文献２には、骨盤と太ももの関節をつなぐ股関節に、もう一つの関節肢を追加するという発明が記載されている。このアイデア自体は、ボストン・ダイナミックスの二足歩行ロボでも使われており、現在はありふれた技術である。この特許文献２では動きの説明に関して、古典的なチェビシェフのリンク機構について触れている。チェビシェフのリンク機構は、従動リンクには支点の他に作用点が一点しか無いので、関節数を増やすことができない。これだけでは、上腕・前腕・手といった、複数の関節で構成される、動物の四肢の表現はできない。
Further, Patent Document 2 describes an invention in which another joint limb is added to a hip joint that connects a pelvis and a thigh joint. The idea itself is used in the Boston Dynamics biped robot and is now a common technology. This Patent Document 2 touches on the classic Chebyshev link mechanism for explanation of movement. The Chebyshev link mechanism cannot increase the number of joints because the driven link has only one point of action in addition to the fulcrum. This alone cannot represent the limbs of animals, consisting of multiple joints such as upper arms, forearms, and hands.
さらに特許文献３は、サスペンションのデザインに関する発明で、地面に脚がついた時に、股関節と膝の部分にサスペンションを取り付けることでショックを和らげるというものである。動きについての新しい考察は特に無く、電気的、磁気的に動かすという言及にとどまっている。
Further, Patent Document 3 is an invention related to a suspension design. When a leg is attached to the ground, a shock is eased by attaching the suspension to the hip joint and the knee. There are no new considerations about movement, only mentioning it moves electrically and magnetically.
特許文献４と、これより前にテオ・ヤンセンが世界で発表したリンク機構も、共に、前後の脚（上肢と下肢）の構造がシンメトリになっているが、自然界にこのような四肢形態の動物はいない。
Both the patent document 4 and the link mechanism previously announced by Theo Janssen in the world are both symmetrical in the structure of the front and rear legs (upper and lower limbs). No.
従動リンクの作用点が二点あると、複数の関節肢を持つことが可能である。これに該当する、この特許文献４にあるリンク機構は、従動リンクの支点と二点の作用点が直線上に並んでいる。しかし、この形態は、１８６７ 年に Ｗ．Ｆ．Ｇｏｏｄｗｉｎ に、歩行する馬のオートマタの脚で既に発明されている。１８６８年にＷ．Ｆ．Ｇｏｏｄｗｉｎは、この直線上にあった従動リンク三点をＶ型に配置することで、人の歩行を表現する機構を発明した。フランソワ・ジュノーは、２００６ 年のスペイン・プロジェクトで、歩く馬のオートマタの後脚を開発する上で、Ｗ．Ｆ．Ｇｏｏｄｗｉｎ のモデルを踏襲しつつ、上記のＶ型の従動リンクの支点を駆動リンクで動かし、さらに別の従動リンク一点を追加して全体を動かすことに成功した。神技的に高度な技法を示した。
If there are two points of action of the follower link, it is possible to have a plurality of joint limbs. In the link mechanism disclosed in Patent Document 4 corresponding to this, the fulcrum of the driven link and the two action points are arranged on a straight line. However, this form was found in 1867 by W.W. F. Goodwin has already invented the leg of the walking automata. In 1868 W.C. F. Goodwin invented a mechanism that expresses human walking by arranging three follower links on the straight line in a V shape. François Juneau is a member of the W.S. F. While following the Goodwin model, the fulcrum of the V-shaped follower link was moved by the drive link, and another one follower link was added to move the whole. Demonstrated a theologically advanced technique.
レオナルド・ダ・ビンチは１４８５年に鳥の羽ばたきを研究しメカニズムを図面に描き残した。シテ科学産業博物館で公開された、ダ・ビンチの図面を元に実際に動くように補完して製作された羽ばたき機では、直線上に並んだ二点の作用点を持つ従動リンクを複数の可変ジョイントを経て駆動リンクに繋がっている。簡単には説明ができない複雑なリンクである。
Leonardo da Vinci studied the flapping of birds in 1485 and left the mechanism in the drawing. In the fluttering machine, which was released at the Cite Museum of Science and Industry and supplemented to actually move based on Da Vinci's drawings, the follower link with two points of action arranged in a straight line can be made variable. It is connected to the drive link via a joint. It is a complex link that cannot be easily explained.
特開平９−１３２１１９号公報JP-A-9-132119
特開２００５−１４４５８３号公報JP 2005-144583 A
特開２００２−１０３２５３号公報JP 2002-103253 A
特開２００５−１４４５８１号公報JP 2005-144581 A
アルフレッド・シャピュイ、エドワール・ジュリ（Ａｌｆｒｅｄ ＣＨＡＰＵＩＳ、 Ｅｄｏｕａｒｄ ＧＥＬＩＳ）共著 「オートマタの世界 歴史と技術の研究（ＬＥ ＭＯＮＤＥ ＤＥＳ ＡＵＴＯＭＡＴＥＳ ＥＴＵＤＥ ＨＩＳＴＯＲＩＱＵＥ ＥＴ ＴＥＣＨＮＩＱＵＥ） エドモン・アロクール序文 二巻（ＰＲＥＦＡＣＥ ｄｅ Ｍ． Ｅｄｍｏｎｄ ＨＡＲＡＵＣＯＵＲＴ ＴＯＭＥ ＳＥＣＯＮＤ）」 スラトキン・ジュネーヴ（Ｓｌａｔｋｉｎｅ ＧＥＮＥＶＥ）出版 １９８４年 Ｐａｒｉｓ出版 １９２８年の再版Alfred Chapuy and Alfred CHAPUIS, Edward GERIS "Automata's World History and Technology Research (LE MONDE DES AUTOMATES ETUDE HISTORIQUE ET TECHNIQUE E ”Slatkin GENEVE publication 1984 Paris publication 1928 reprint
Ｗ．Ｆ．Ｇｏｏｄｗｉｎ Ａｕｔｏｍａｔｉｃ Ｔｏｙ， Ｐａｔｅｎｔｅｄ Ａｕｇ． ２５， １８６８． Ｎｏ． ８１，４９１．W. F. Goodwin Automatic Toy, Patented Aug. 25, 1868. No. 81,491.
Ｗ．Ｆ．Ｇｏｏｄｗｉｎ Ａｕｔｏｍａｔｉｃ Ｔｏｙ， Ｐａｔｅｎｔｅｄ Ｊａｎ． ２２， １８６７． Ｎｏ． ６１，４１６．W. F. Goodwin Automatic Toy, Patented Jan. 22, 1867. No. 61,416.
Ａ．Ｊ．ＤＡＶＩＳ． Ａｕｔｏｍａｔｉｃ Ｔｏｙ， Ｐａｔｅｎｔｅｄ Ｏｃｔ．２９， １８７８． Ｎｏ． ２０９，４６８．A. J. et al. DAVIS. Automatic Toy, Patented Oct. 29, 1878. No. 209, 468.
Ｌ．Ａ．ＲＹＧＧ． ＭＥＣＨＡＮＩＣＡＬ ＨＯＲＳＥ． Ｐａｔｅｎｔｅｄ Ｆｅｂ． １４， １８９３． Ｎｏ． ４９１，９２７L. A. RYGG. MECHANICAL HORSE. Patented Feb. 14, 1893. No. 491,927
Ｐｒｏｆ． Ｇｅｏｒｇｅ Ｍｏｏｒｅ． Ｓｔｅａｍ Ｍａｎ． １８９１−１８９３ （Ｃａｎａｄｉａｎ／Ａｍｅｒｉｃａｎ）Prof. George Moore. Steam Man. 1891-1893 (Canadian / American)
アブラアン＝ルイ・ブレゲ（Ａｂｒａｈａｍ-Ｌｏｕｉｓ Ｂｒｅｇｕｅｔ） − 動物の能力と随意運動の原理についてのエッセイ（Ｅｓｓａｉ ｓｕｒ ｌａ ｆｏｒｃｅ ａｎｉｍａｌｅ ｅｔ ｓｕｒ ｌｅ ｐｒｉｎｃｉｐｅ ｄｕ ｍｏｕｖｅｍｅｎｔ ｖｏｌｅｎｔａｉｒｅ） − パリにて（Ａ Ｐａｒｉｓ）， フィルマン・ディドの印刷（ｄｅ ｌ’ｉｍｐｒｉｍｅｒｉｅ ｄｅ ｆｉｒｍｉｎ ｄｉｄｏｔ）， １８１１年Abraham-Louis Breguet-An Essay on the Principles of Animal Capabilities and Voluntary Movements (Essai sur la force animare et sur principal print volume Pariman, Paris, France) Printing (de l'imprimerie de farmin didot), 1811
Ｌｅｏｎａｒｄｏ ｄａ Ｖｉｎｃｉ， Ｏｒｎｉｔｈｏｐｔｅｒ， １４８５年Leonardo da Vinci, Ornithopter, 1485
以上の過去に開発されたさまざまな歩行機構の研究は、その後、走行や飛行、水泳といった自然動物全体の随意運動を表現する発展には至らなかった。
The research on various walking mechanisms developed in the past has not led to the development of voluntary movements of natural animals such as running, flying and swimming.
例えば特許文献４で示されたものを代表とするこれまでに開発された各機構全てを総括すると、一般的にこれらの構造に置いて、従動リンクと駆動リンクの位置との相関関係が悪く、振幅が小さく、振りの左右のバランスの悪い歩行しか表現できない。
For example, when summarizing all the mechanisms that have been developed so far, such as those shown in Patent Document 4, the correlation between the position of the driven link and the drive link is generally poor in these structures. Amplitude is small and can only express a walk with a bad balance between the left and right of the swing.
進歩を改善するために、これまでの開発アプローチを変える必要性がある。全体の運動を汎用的に司るような、根本的な自然現象を表現する機械機構を見つけ出せれば、それを元にして自然に忠実な動物の運動を表現することが出来る。
There is a need to change previous development approaches to improve progress. If you can find a mechanical mechanism that expresses the fundamental natural phenomena that governs the overall movement in a general way, you can express the movements of animals that are faithful to nature.
本発明は以上の従来技術における問題に鑑み、自然現象を直截的に表現するコンパクトな機械構造の基本原理を解明し、その機構を元に、自然動物の随意運動を表現する機構と、その機構を用いて自然動物の随意運動を表現する方法、リンク機構、人工動物、自然動物の運動の表現方法、コンピュータグラフィックス及びコンピュータグラフィックスの生成方法を提供することを目的とする。
In view of the above problems in the prior art, the present invention elucidates the basic principle of a compact mechanical structure that directly expresses a natural phenomenon, and based on that mechanism, a mechanism that expresses voluntary movements of natural animals, and the mechanism It is an object of the present invention to provide a method for expressing voluntary movements of natural animals, a link mechanism, an artificial animal, a method for expressing natural animal movements, computer graphics, and a method for generating computer graphics.
すなわち本発明のリンク機構は、自然動物の随意運動を表現するための拘束条件を元にして配置することを特徴とする。このリンク機構を用いて、自然動物の随意運動を実現する人工動物を作成することができる。
That is, the link mechanism of the present invention is characterized in that it is arranged based on a constraint condition for expressing voluntary movement of a natural animal. Using this link mechanism, an artificial animal that realizes voluntary movement of a natural animal can be created.
自然動物の胴体、腕、脚の構造は全ての動物で共通しており、それら全ては、前述した基本的な配置条件を拘束条件として組み立てらている。
個別の動物個体における右前脚の開始角度は何度で、左前足は何度で等は個体毎の生存条件との関係で多様なばらつきがあり、その点に関しては本発明とは関係の無いところである。
The structure of the body, arms, and legs of natural animals is common to all animals, and all of them are assembled using the basic arrangement conditions described above as constraints.
The starting angle of the right forelimb in an individual animal individual is many times, the number of left forelimbs is many times, etc., and there are various variations in relation to the survival conditions for each individual, and this point is not related to the present invention. is there.
本機構は、ダイヤモンド、菱型、マッチ箱等、見た人によって口々に色んな表現が為される基本的な配置条件を拘束条件として採用する。
この配置条件では従動リンクの支点と、駆動リンクの支点の位置の相関関係によって自然なバランスを実現することができる。
This mechanism employs basic arrangement conditions such as diamonds, diamonds, match boxes, etc. that allow various expressions to be expressed by the viewer.
Under this arrangement condition, a natural balance can be realized by the correlation between the fulcrum of the driven link and the position of the fulcrum of the drive link.
本発明によって、ある一定の配置条件を指定することによって、左右のバランスが取れ、振幅を大きくすることが可能になり、走行を始めとした森羅万象の動きを表現することが可能になった。
By specifying a certain arrangement condition according to the present invention, it is possible to balance left and right, increase the amplitude, and to express the movement of everything in the forest, including running. .
自然が動物の動作に与える２つの賜物が乱流と渦と呼ばれる流体現象である。カンブリア紀に海中で誕生した最古の脊索動物であるハイコウイクチスは、この自然現象から推進力を得るために自らの姿を最適化した。この自然の恩恵と、動物の随意運動のこの自然現象へのマッチムーブにより、動物は流れの方向に対して莫大な推進力を生み出すことができるようになった。例えば、魚類のニジマスは川の急流の中を、重力に抗して、流体中をさかのぼって登ることができる。
Two gifts that nature gives to animal behavior are fluid phenomena called turbulence and vortices. The oldest chordate that was born in the Cambrian sea, Heikowiktis, optimized his appearance to gain propulsion from this natural phenomenon. This natural bounty and the match movement of the animal's voluntary movements to this natural phenomenon allowed the animals to generate enormous driving forces in the direction of flow. For example, a fish rainbow trout can climb up through a rapid stream in a river against gravity.
この流体中を運動する時に、物体の後ろに発生する乱流現象において、流れの速さが大きくなり、流体の中を移動する物体への抵抗が増すに連れて、物体の後ろの流体の形状は変化する。この乱流現象は、双子渦からカルマン渦列となり乱流となって消滅し、カルマン渦列が再発生するというようにその形状は変化していく。この流体中を運動する物体が受ける抗力を表した数値をレイノルズ数と称している。このレイノルズ数は物体の大きさ、物体の粘性と流れの速さで決まる。
In the turbulent phenomenon that occurs behind the object when moving in this fluid, the shape of the fluid behind the object increases as the flow speed increases and the resistance to the object moving through the fluid increases. Will change. This turbulent phenomenon changes from twin vortices to Karman vortex trains, disappears as turbulent flow, and Karman vortex trains regenerate. A numerical value representing the drag force applied to an object moving in the fluid is called the Reynolds number. This Reynolds number is determined by the size of the object, the viscosity of the object and the speed of flow.
海中に住んでいた動物は、その後、長い年月を経て陸地に上がった後、骨格や関節肢に四肢を形成するに至った。
動物の四肢は、上肢は、上腕、前腕、手から形成する。下肢は、上脚、前脚、足から形成する。動物の胴体は、頭部、胸部、肋骨を経て尾によって形成する。
海中、大気中共に、胴体と四肢は、随意運動中に、形態をジグザグの波の形を形成することで、物体が自然の流体中を運動する時に、物体の後ろに発生する乱流現象のカルマン渦列を踏み台のように捉えることで推進力を得る。
Animals that lived in the sea then went up to land after many years, and then formed extremities in their skeletons and joints.
The limbs of animals are formed from the upper arm, forearm, and hand. The lower limb is formed from the upper leg, front leg, and foot. The animal's torso is formed by the tail through the head, chest and ribs.
Both in the sea and in the air, the torso and limbs form a zigzag wave shape during voluntary movements, and the turbulence phenomenon that occurs behind the object when the object moves in a natural fluid. Propulsion is gained by grasping the Karman vortex street like a platform.
本発明はこの自然現象を直截的に表現するコンパクトな機械機構の基本原理を解明し、これによって得られる基本機構を元に自然動物の運動を表現する例を提供する。
The present invention elucidates the basic principle of a compact mechanical mechanism that directly expresses this natural phenomenon, and provides an example of expressing the movement of a natural animal based on the basic mechanism obtained thereby.
本発明は過去に考案された歩行機構の機械要素を元に、基本原理に基づきシンメトリーと中心を意識しながら再配置した結果、機構の配置の最適化を成し遂げた。
一般に動物の腕や脚の関節は０度（曲げてたたんだ状態）から１８０度（開いて伸ばした状態）まで変化する。一方、渦は、０度から３６０度まで開く。本発明者はテレスコピック・サスペンション等で干渉する連結リンクを伸縮させることで、動物の関節を逆に曲げることも可能であり、０度から３６０度まで変化させることができることに想到した。
Based on the mechanical elements of the walking mechanism devised in the past, the present invention has been rearranged based on the basic principle while being conscious of symmetry and the center, and as a result, the arrangement of the mechanism has been optimized.
In general, the joints of animals' arms and legs vary from 0 degrees (bent and folded) to 180 degrees (open and extended). On the other hand, the vortex opens from 0 degrees to 360 degrees. The present inventor has conceived that the joint of an animal can be bent in the reverse direction by extending or contracting the connecting link that interferes with a telescopic suspension or the like, and can be changed from 0 degrees to 360 degrees.
本発明に係るリンク機構によって単純な回転運動を、自然現象に基づいた動物の多様で自然な随意運動に変換することができる。
The link mechanism according to the present invention can convert a simple rotational motion into various natural and voluntary motions of animals based on natural phenomena.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
本発明のリンク機構は、図１〜図２４に示されるようにリンク構造によって構成される機械機構である。基本の型は二つあり、一つ目は、図１〜図１２の自然の乱流現象を象る、外に向かって波打つ機構である。二つ目は、図１３〜図２４の自然の渦現象を象る、内に向かって巻きつく機構である。なお図１〜図１２では上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示しており、図１３〜図２４では上段（ａ）図に左右の大きさを一定にした双子渦の画像と対比する態様で第二の態様における半時計回り、下段（ｂ）に第二の態様における時計回りの図を示す。
The link mechanism of the present invention is a mechanical mechanism constituted by a link structure as shown in FIGS. There are two basic types, and the first is a mechanism that undulates outwards, simulating the natural turbulence phenomenon of FIGS. The second is a mechanism that winds inward, simulating the natural vortex phenomenon of FIGS. In addition, in FIGS. 1-12, the upper stage (a) figure shows the clockwise view in the first aspect in the aspect contrasted with the Karman vortex street image, and the lower stage (b) shows the clockwise figure in the first aspect. In FIGS. 13 to 24, the upper stage (a) is a counterclockwise rotation in the second mode in a mode contrasted with the twin vortex image in which the left and right sizes are constant, and the lower stage (b) is a clockwise direction in the second mode. The figure of is shown.
本発明のリンク機構の配置関係について説明する。先ず、駆動リンクの作用点 β１と従動リンクの作用点 δ１を任意の地点に置き、駆動リンクの支点 α１を、（ δ１−β１）を結ぶ直線上の任意の地点に置く。そして、駆動リンクの作用点 β１と従動リンクの支点 α２とを結ぶ直線（β１−α２）が、従動リンクの作用点（δ１−γ１）を結ぶ直線上を交差するように、α２と γ１を任意の地点に置く。以上が本機構の基本となる配置条件である。これを起点に、中間リンクと連結リンクを接続し、リンク機構を完成する。この機構は、α１が、（δ１−β１）を結ぶ直線上にある時に、（β１−α２）を結ぶ直線が、（ δ１−γ１）を結ぶ直線上の《中間点》を通過する配置が、最も精度の高い安定した動作を現す。そして、この駆動リンク（α１−β１）の幅が、関節肢（α１−α２−α３−α４… αｎ）の振幅の大きさになって現れる。
The arrangement relationship of the link mechanism of the present invention will be described. First, the action point β1 of the drive link and the action point δ1 of the driven link are placed at arbitrary points, and the fulcrum α1 of the drive link is placed at any point on the straight line connecting (δ1-β1). Then, α2 and γ1 are arbitrarily set so that the straight line (β1-α2) connecting the drive link action point β1 and the follower link fulcrum α2 intersects the straight line connecting the drive link action points (δ1-γ1). Put it at the point. The above is the basic arrangement conditions of this mechanism. Starting from this, the intermediate link and the connecting link are connected to complete the link mechanism. This mechanism is such that when α1 is on a straight line connecting (δ1-β1), a straight line connecting (β1-α2) passes through an ‘intermediate point’ on a straight line connecting (δ1-γ1). Shows the most accurate and stable operation. The width of the drive link (α1-β1) appears as the amplitude of the joint limb (α1-α2-α3-α4... Αn).
以上のようにして配置してなる本発明のリンク機構の作動を説明する。
駆動リンク（支点 α１−作用点 β１）の回転運動が、中間リンク（β１−γ１−γ２−δ２）に伝わり、従動リンク（支点 α２−作用点 δ１−γ１）を動かし、従動リンクに連結される、連結リンクＩ（δ１−β２）が、連結リンクＩと中間リンクに連結される、連結リンクＩＩ（β２−γ２−γ３−δ３）を動かす。
The operation of the link mechanism of the present invention arranged as described above will be described.
The rotational movement of the drive link (fulcrum α1-action point β1) is transmitted to the intermediate link (β1-γ1-γ2-δ2), and the driven link (fulcrum α2-action point δ1-γ1) is moved to be connected to the follower link. The connection link I (δ1-β2) moves the connection link II (β2-γ2-γ3-δ3) connected to the connection link I and the intermediate link.
以下、連結リンクＩＩＩ（δ２−β３）ＩＶ（β３−γ３−γ４−δ４）、連結リンクＶ（δ３−β４）ＶＩ（β４−γ４−γ５−δ５）…二つの形状の連結リンク（δｎ−（βｎ＋１））と（βｎ−γｎ−（γｎ＋１）−（δｎ＋１））がペアになり、鎖状に連結リンクが接続することにより、関節肢（γ１−γ２−γ３−γ４… γｎ）を形成する。なお、基本機構２の軌道である図１３〜図２４の左の内に向かって巻き付く小さな渦のように、連結リンクＩＩＩ，Ｖ，ＶＩＩ，ＩＸ… δｎ−（βｎ＋１）の長さが、長すぎるために、駆動リンクの回転運動に干渉してしまうケースがある。これには、テレスコピック・サスペンション等で干渉する連結リンクを伸縮させることで対応する。動物の形態では、基本的にこの基本機構２が加わるのは、動物の手足首と尻尾のみで、この問題は発生しない。
Hereinafter, connecting link III (δ2-β3) IV (β3-γ3-γ4-δ4), connecting link V (δ3-β4) VI (β4-γ4-γ5-δ5),..., Two shapes of connecting links (δn− ( [beta] n + 1)) and ([beta] n- [gamma] n-([gamma] n + 1)-([delta] n + 1)) form a pair, and connecting links are connected in a chain to form an articulated limb ([gamma] 1- [gamma] 2- [gamma] 3- [gamma] 4 ... [gamma] n). It should be noted that the length of the connecting links III, V, VII, IX... Δn− (βn + 1) is long like a small vortex wound inward on the left in FIGS. In some cases, this may interfere with the rotational movement of the drive link. This is dealt with by extending or contracting the connecting link that interferes with a telescopic suspension or the like. In the animal form, the basic mechanism 2 is basically added only to the animal's wrist, ankle and tail, and this problem does not occur.
以上の本発明のリンク機構を以下にさらに詳細に説明する。本発明のリンク機構は、例えば自然動物の運動を表現するための拘束条件を提供し、係るリンク機構を用いて自然動物の運動を表現することによって人工動物を構成することができる。
The link mechanism of the present invention will be described in further detail below. The link mechanism of the present invention provides a constraint condition for expressing the movement of a natural animal, for example, and an artificial animal can be configured by expressing the movement of the natural animal using the link mechanism.
係る本発明のリンク機構は、図１〜図１２又は図１３〜図２４に示されるように、順次連結されるジョイントγ１，２，３，・・・ｎと、ジョイントγ１，２，３，・・・ｎの各々に対応して連結されるジョイントβ１，２，３，・・・ｎ及びジョイントδ１，２，３，・・・ｎを有し、かつジョイントδ１とジョイントβ２、ジョイントδ２とジョイントβ３、・・・ジョイントδｎとジョイントβｎ＋１とを連結してなる。
As shown in FIGS. 1 to 12 or FIGS. 13 to 24, the link mechanism of the present invention includes joints γ1, 2, 3,... N that are sequentially connected and joints γ1, 2, 3,. .. having joints β1, 2, 3,... N and joints δ1, 2, 3,... N connected corresponding to each of n, and joint δ1 and joint β2, and joint δ2 and joint β3,..., joint δn and joint βn + 1 are connected.
以上の本発明のリンク機構は、図１〜図１２に示されるように、ジョイントβｎ（ｎ＝１以上の整数）とジョイントγｎ（ｎ＝１以上の整数）とジョイントγｎ（ｎ＝２以上の整数）とジョイントδｎ（ｎ＝２以上の整数）とを連結して一辺を有しない四辺形状の定形に保持されるＮ個（Ｎ＝１以上の整数）のリンク要素を有する。またジョイントδｎ（ｎ＝１以上の整数）とジョイントβｎ（ｎ＝２以上の整数）とが連結される。
As shown in FIGS. 1 to 12, the link mechanism of the present invention described above has a joint βn (n = 1 or larger integer), a joint γn (n = 1 or larger integer), and a joint γn (n = 2 or larger). An integer) and a joint δn (n = 2 or more integers) are connected to each other, and N (N = 1 or more) link elements are held in a fixed shape of a quadrilateral shape having no one side. Further, the joint δn (n = 1 or more integer) and the joint βn (n = 2 or more integer) are connected.
或いは以上の本発明のリンク機構は、図１３〜図２４に示されるように、ジョイントβｎ（ｎ＝１以上の整数）とジョイントγｎ（ｎ＝１以上の整数）とジョイントγｎ（ｎ＝２以上の整数）とジョイントδｎ（ｎ＝２以上の整数）とを連結して、ジョイントγｎとジョイントγ（ｎ＋１）とを連結する軸線を介してジョイントβｎとジョイントδｎとが相互に逆側に位置する定形に保持されるＮ個（Ｎ＝１以上の整数）のリンク要素を有する。
Alternatively, as shown in FIGS. 13 to 24, the link mechanism of the present invention described above has a joint βn (n = 1 or larger integer), a joint γn (n = 1 or larger integer), and a joint γn (n = 2 or larger). The joint βn and the joint δn are located on the opposite sides via an axis connecting the joint γn and the joint γ (n + 1). It has N (N is an integer equal to or greater than 1) link elements held in a fixed form.
さらにジョイントγ１に連結されるジョイントβ１が一の中心支持点α１に、この中心支持点α１を中心とする周回軌道上を周回可能に連結され、ジョイントδ１は他の中心支持点α２を介してジョイントγ１に連結され、かつジョイントδ１及びジョイントγ１は他の中心支持点α２を中心とする周回軌道上を相互の位置関係を一定に保持して周回可能に配置される。
Further, a joint β1 connected to the joint γ1 is connected to one central support point α1 so as to be able to circulate on a circular track centering on the central support point α1, and the joint δ1 is connected via another central support point α2. The joint δ1 and the joint γ1 are connected to γ1, and are arranged so as to be able to circulate on the orbit around the other center support point α2 while keeping the mutual positional relationship constant.
β１とδ１を結ぶ仮想線上に、中心支持点α１がある条件下で、ジョイントβ１と中心支持点α２とを結ぶ仮想線が、ジョイントδ１とジョイントγ１とを結ぶ仮想線と交差するようにすることができる。
The virtual line connecting the joint β1 and the central support point α2 intersects the virtual line connecting the joint δ1 and the joint γ1 under the condition that the central support point α1 is on the virtual line connecting β1 and δ1. Can do.
またβ１とδ１と中心支持点α１とが一の仮想直線上に整列する条件下で、ジョイントβ１と中心支持点α２とを結ぶ仮想線が、ジョイントδ１とジョイントγ１とを結ぶ仮想線と交差するようにしてもよい。
Further, under the condition that β1, δ1 and the center support point α1 are aligned on one virtual straight line, the virtual line connecting the joint β1 and the center support point α2 intersects the virtual line connecting the joint δ1 and the joint γ1. You may do it.
さらに以上の場合にβ１とδ１とが最大間隔となる配置を形成することができる。
すなわち、その位置から、β１がα１を軸に回転すると、β１とδ１の二点間の距離が必ず縮まるようにすることができ、一直線上に三点（β１、δ１、α１）が整列するタイミングはβ１がα１を軸に１８０度回転した時にも再度現れる。
そのタイミングでは『α１とδ１を結ぶ仮想線上に、β１がある』状況は逆に《β１とδ１の最短距離》となる。
Further, in the above case, it is possible to form an arrangement in which β1 and δ1 are the maximum distance.
That is, when β1 rotates about α1 from that position, the distance between the two points β1 and δ1 can always be reduced, and the three points (β1, δ1, α1) are aligned on a straight line. Appears again when β1 is rotated 180 degrees around α1.
At that timing, “there is β1 on the imaginary line connecting α1 and δ1”, on the contrary, is “the shortest distance between β1 and δ1”.
以上のβ１とδ１が最大間隔となる配置を形成する時に、β１とα２を結ぶ仮想線が、δ１とγ１を結ぶ仮想線のほぼ《中間点を》交差する配置を設定することによって、本発明のリンク機構の駆動部分を形成する各部の配置関係の形態は正方形やひし形の形状になり、これが、左右にバランスのとれた最も大きな振幅運動を生み出す。
When forming an arrangement in which β1 and δ1 are at the maximum interval, an imaginary line connecting β1 and α2 intersects with an imaginary line connecting δ1 and γ1 almost at the “intermediate point”, thereby setting the present invention. The form of the arrangement relation of the respective parts forming the drive part of the link mechanism is a square or rhombus shape, which produces the largest amplitude motion balanced in the left and right.
またジョイントδ１とジョイントγ１とが中心支持点α２を中心とする同一の周回軌道上のそれぞれ一部を往復動可能に配置される。
Further, the joint δ1 and the joint γ1 are arranged so as to be able to reciprocate partly on the same orbit around the center support point α2.
図１〜図１２に示されるリンク機構と、図１３〜図２４に示されるリンク機構とを組み合わせて使用して多様な人工動物に自然な動作を行わせることができる。
Various artificial animals can be caused to perform natural operations using a combination of the link mechanism shown in FIGS. 1 to 12 and the link mechanism shown in FIGS. 13 to 24.
図１〜図１２に示されるリンク機構及び／又は図１３〜図２４に示されるリンク機構を使用し、リンク機構の一部にひねりを加えることによって多様な人工動物に自然な動作を行わせることができる。
Using the link mechanism shown in FIGS. 1 to 12 and / or the link mechanism shown in FIGS. 13 to 24 to cause various artificial animals to perform natural movements by adding a twist to a part of the link mechanism. Can do.
以上の本発明のリンク機構を用い、ジョイントγ１に連結されるジョイントβ１を一の中心支持点α１を中心とする周回軌道上を周回させることによって、ジョイントδ１及びジョイントγ１を他の中心支持点α２を中心とする周回軌道上を往復動させ、これに伴い順次連結されるジョイントγ２，３，・・・ｎと、ジョイントγ２，３，・・・ｎの各々に連結されるジョイントβ２，３，・・・ｎ及びジョイントδ２，３，・・・ｎを変位させる自然動物の運動の表現方法によって、多様な人工動物に自然な動作を行わせることができる。
By using the link mechanism of the present invention described above, the joint β1 connected to the joint γ1 orbits on the orbit around the center support point α1, so that the joint δ1 and the joint γ1 are connected to the other center support point α2. .., And joints γ2, 3,... N that are sequentially connected together, and joints β2, 3,. .., N and joints δ 2, 3,... N can be used to cause various artificial animals to perform natural movements.
また図１〜図１２に示されるリンク機構及び／又は図１３〜図２４に示されるリンク機構の各ジョイントを描画点として、相互に等距離を保って配置される描画点γ１，２，３，・・・ｎと、描画点γ１，２，３，・・・ｎの各々に等距離を保つ様に配置される描画点β１，２，３，・・・ｎ及び描画点δ１，２，３，・・・ｎを用い、かつ描画点δ１と描画点β２、描画点δ２と描画点β３、・・・描画点δｎと描画点βｎ＋１とを距離可変にしてなり、
描画点γ１に等距離を保つ様に配置される描画点β１が一の中心支持点α１に等距離を保つ様に配置されて、この中心支持点α１を中心とする周回軌道上を周回可能に配置され、描画点δ１は他の中心支持点α２を介して描画点γ１に等距離を保つ様に配置され、かつ描画点δ１及び描画点γ１は他の中心支持点α２を中心とする周回軌道上を周回可能に配置されてなるコンピュータグラフィックスを作成することができる。
Further, the drawing points γ1, 2, 3, and 3 arranged at equal distances from each other with the joints of the link mechanism shown in FIGS. 1 to 12 and / or the link mechanisms shown in FIGS. 13 to 24 as drawing points. ... And n and the drawing points .beta.1, 2, 3,... N and the drawing points .delta.1, 2, 3 that are arranged so as to be equidistant from each other. ,... N, and the drawing point δ1 and the drawing point β2, the drawing point δ2 and the drawing point β3,..., And the drawing point δn and the drawing point βn + 1 are variable.
The drawing point β1 arranged so as to keep the equidistance to the drawing point γ1 is arranged so as to keep the equidistance to one central support point α1, so that it can circulate on the orbit around the center support point α1. The drawing point δ1 is arranged so as to be kept equidistant from the drawing point γ1 via the other central support point α2, and the drawing point δ1 and the drawing point γ1 are orbits around the other central support point α2. It is possible to create computer graphics arranged so as to be able to go around.
相互に等距離を保って配置される描画点γ１，２，３，・・・ｎと、描画点γ１，２，３，・・・ｎの各々に等距離を保つ様に配置される描画点β１，２，３，・・・ｎ及び描画点δ１，２，３，・・・ｎを用い、かつ描画点δ１と描画点β２、描画点δ２と描画点β３、・・・描画点δｎと描画点βｎ＋１とを距離可変にしてなり、
描画点γ１に等距離を保つ様に配置される描画点β１が一の中心支持点α１に等距離を保つ様に配置されて、この中心支持点α１を中心とする周回軌道上を周回可能に配置され、描画点δ１は他の中心支持点α２を介して描画点γ１に等距離を保つ様に配置され、かつ描画点δ１及び描画点γ１は他の中心支持点α２を中心とする周回軌道上を周回可能に配置され、
描画点γ１に等距離を保つ様に配置される描画点β１を一の中心支持点α１を中心とする周回軌道上を周回させることによって、描画点δ１及び描画点γ１を他の中心支持点α２を中心とする周回軌道上を往復動させ、これに伴い順次等距離を保つ様に配置される描画点γ２，３，・・・ｎと、描画点γ２，３，・・・ｎの各々に等距離を保つ様に配置される描画点β２，３，・・・ｎ及び描画点δ２，３，・・・ｎを変位させることを特徴とするコンピュータグラフィックスの生成方法。
Drawing points γ1, 2, 3,... N that are arranged at an equal distance from each other and drawing points that are arranged at an equal distance from each of the drawing points γ1, 2, 3,. ... and n, the drawing points δ1, 2, 3,... n, and the drawing point δ1, the drawing point β2, the drawing point δ2, the drawing point β3,. The drawing point βn + 1 is variable in distance,
The drawing point β1 arranged so as to keep the equidistance to the drawing point γ1 is arranged so as to keep the equidistance to one central support point α1, so that it can circulate on the orbit around the center support point α1. The drawing point δ1 is arranged so as to be kept equidistant from the drawing point γ1 via the other central support point α2, and the drawing point δ1 and the drawing point γ1 are orbits around the other central support point α2. It is arranged so that it can go around
The drawing point δ1 and the drawing point γ1 are placed on the other center support point α2 by orbiting the drawing point β1 arranged so as to keep an equal distance from the drawing point γ1 on a circular trajectory centered on one center support point α1. Are reciprocated on a circular trajectory centered at the center, and the drawing points γ2, 3,... N and the drawing points γ2, 3,. A computer graphics generation method characterized by displacing the drawing points β2, 3,... N and the drawing points δ2, 3,.
以上の本発明のリンク機構を用い、ジョイントγ１に連結されるジョイントβ１を一の中心支持点α１を中心とする周回軌道上を周回させることによって、ジョイントδ１及びジョイントγ１を他の中心支持点α２を中心とする周回軌道上を往復動させ、これに伴い順次連結されるジョイントγ２，３，・・・ｎと、ジョイントγ２，３，・・・ｎの各々に連結されるジョイントβ２，３，・・・ｎ及びジョイントδ２，３，・・・ｎを変位させることによって自然動物の運動を表現することができる。
By using the link mechanism of the present invention described above, the joint β1 connected to the joint γ1 orbits on the orbit around the center support point α1, so that the joint δ1 and the joint γ1 are connected to the other center support point α2. .., And joints γ2, 3,... N that are sequentially connected together, and joints β2, 3,.・ ・ ・ N and joints δ2, 3,... N can be displaced to express the movement of natural animals.
以上の本発明のリンク機構による表現を用い、相互に等距離を保って配置される描画点γ１，２，３，・・・ｎと、描画点γ１，２，３，・・・ｎの各々に等距離を保つ様に配置される描画点β１，２，３，・・・ｎ及び描画点δ１，２，３，・・・ｎを用い、かつ描画点δ１と描画点β２、描画点δ２と描画点β３、・・・描画点δｎと描画点βｎ＋１とを距離可変にし、描画点γ１に等距離を保つ様に配置される描画点β１が一の中心支持点α１に等距離を保つ様に配置されて、この中心支持点α１を中心とする周回軌道上を周回可能に配置され、描画点δ１は他の中心支持点α２を介して描画点γ１に等距離を保つ様に配置され、かつ描画点δ１及び描画点γ１は他の中心支持点α２を中心とする周回軌道上を周回可能に配置してコンピュータグラフィックスを作成することができる。
Each of the drawing points γ1, 2, 3,... N and the drawing points γ1, 2, 3,... N and the drawing points γ1, 2, 3,. .. And n and the drawing points δ1, 2, 3,... N arranged so as to keep the same distance to each other, and the drawing point δ1, the drawing point β2, and the drawing point δ2 And the drawing point β3,..., The drawing point δn and the drawing point βn + 1 are made variable, and the drawing point β1 arranged so as to keep the same distance to the drawing point γ1 keeps the same distance to one central support point α1. Are arranged so as to be able to circulate on the orbit around the center support point α1, and the drawing point δ1 is arranged so as to be equidistant from the drawing point γ1 via the other center support point α2. Further, the drawing point δ1 and the drawing point γ1 are arranged so as to be able to circulate on the orbit around the other center support point α2 and are computer graph Can be created.
このコンピュータグラフィックスは、相互に等距離を保って配置される描画点γ１，２，３，・・・ｎと、描画点γ１，２，３，・・・ｎの各々に等距離を保つ様に配置される描画点β１，２，３，・・・ｎ及び描画点δ１，２，３，・・・ｎを用い、かつ描画点δ１と描画点β２、描画点δ２と描画点β３、・・・描画点δｎと描画点βｎ＋１とを距離可変にし、描画点γ１に等距離を保つ様に配置される描画点β１が一の中心支持点α１に等距離を保つ様に配置されて、この中心支持点α１を中心とする周回軌道上を周回可能に配置され、描画点δ１は他の中心支持点α２を介して描画点γ１に等距離を保つ様に配置され、かつ描画点δ１及び描画点γ１は他の中心支持点α２を中心とする周回軌道上を周回可能に配置し、描画点γ１に等距離を保つ様に配置される描画点β１を一の中心支持点α１を中心とする周回軌道上を周回させることによって、描画点δ１及び描画点γ１を他の中心支持点α２を中心とする周回軌道上を往復動させ、これに伴い順次等距離を保つ様に配置される描画点γ２，３，・・・ｎと、描画点γ２，３，・・・ｎの各々に等距離を保つ様に配置される描画点β２，３，・・・ｎ及び描画点δ２，３，・・・ｎを変位させるコンピュータグラフィックスの生成方法によって作成される。
In this computer graphics, the drawing points γ1, 2, 3,... N that are arranged at an equal distance from each other and the drawing points γ1, 2, 3,. .. And n and the drawing points δ1, 2, 3,... N, and the drawing point δ1 and the drawing point β2, the drawing point δ2 and the drawing point β3,. The drawing point δn and the drawing point βn + 1 are made variable, and the drawing point β1 arranged so as to keep the same distance to the drawing point γ1 is arranged so as to keep the same distance to one central support point α1, The drawing point δ1 is arranged so as to be able to circulate on the orbit around the center support point α1, and the drawing point δ1 is arranged so as to keep an equal distance to the drawing point γ1 via the other center support point α2, and the drawing point δ1 and drawing The point γ1 is arranged so as to be able to circulate on the orbit around the other center support point α2, and the drawing point γ1 is kept at an equal distance. The drawing point β1 is reciprocated on the orbit around the center support point α2 by revolving the drawing point δ1 and the drawing point γ1 around the orbit around the center support point α1. Accordingly, the drawing points γ2, 3,... N arranged so as to keep the same distance sequentially and the drawing points arranged so as to keep the equidistance at each of the drawing points γ2, 3,. Are generated by a computer graphics generation method in which the points β2, 3,... N and the drawing points δ2, 3,.
以上において（δｎとγｎ＋１とβｎ＋１）はそれぞれの点が結びつき、辺を構成して三角形の関係にある。一方、ジョイント（γｎ＋１とβｎ＋１）の間隔は不変である。またδｎとγｎ＋１を結ぶ仮想線の距離は可変であり、ジョイント（δｎとβｎ＋１）も可変になる。
In the above, (δn, γn + 1, and βn + 1) are connected to each other, forming a side, and having a triangular relationship. On the other hand, the interval between joints (γn + 1 and βn + 1) is unchanged. Further, the distance of the imaginary line connecting δn and γn + 1 is variable, and the joints (δn and βn + 1) are also variable.
したがって図１３〜図２４に示されるリンク機構及びこれによる表現を用いる描画機構ではδｎとγｎ＋１が短くなる場合、最終的に、（δｎとβｎ＋１）上に（γｎ＋１）がある時に、（δｎとγｎ＋１）が最短距離になる。
これ以上（δｎとγｎ＋１）が短くなると、（δｎとβｎ＋１）のジョイントも縮まる。
つまり（δｎとγｎ＋１）＋（γｎ＋１とβｎ＋１）＞＝（δｎとβｎ＋１）の関係が成立する。
図１〜図１２に示されるリンク機構及びこれによる表現を用いる描画機構では（δｎとγｎ＋１）が長くなる場合、最終的に、（δｎとγｎ＋１）上に（βｎ＋１）がある時に、（δｎとγｎ＋１）が最長距離になる。
これ以上（δｎとγｎ＋１）が長くなると、（δｎとβｎ＋１）のジョイントも伸びる。
つまり（δｎとβｎ＋１）＋（βｎ＋１とγｎ＋１）＞＝（δｎとγｎ＋１）の関係が成立する。
以上のように（γｎとδｎ）＋（δｎとβｎ＋１）＞＝（γｎとβｎ＋１）も成立する。
Therefore, when δn and γn + 1 are shortened in the link mechanism shown in FIGS. 13 to 24 and the drawing mechanism using the expression, when (γn + 1) is finally on (δn and βn + 1), (δn and γn + 1) ) Is the shortest distance.
When (δn and γn + 1) becomes shorter than this, the joint of (δn and βn + 1) also shrinks.
That is, the relationship (δn and γn + 1) + (γn + 1 and βn + 1)> = (δn and βn + 1) is established.
In the link mechanism shown in FIGS. 1 to 12 and the drawing mechanism using the expression based on this, when (δn and γn + 1) becomes long, finally, when (βn + 1) is on (δn and γn + 1), (δn and γn + 1) is the longest distance.
When (δn and γn + 1) becomes longer than this, the joint of (δn and βn + 1) also extends.
That is, the relationship (δn and βn + 1) + (βn + 1 and γn + 1)> = (δn and γn + 1) is established.
As described above, (γn and δn) + (δn and βn + 1)> = (γn and βn + 1) is also established.
実際に図１３〜図２４に示されるリンク機構及びこれによる表現を用いる描画機構、すなわち、δが、γを軸にして、βに対して反対側に配置されているジョイント若しくは描画点が連続して続いた形態では、回転するとそのうち左側に渦となって内側に巻き付く。この時、描画点δｎと描画点βｎ＋１の距離が可変になるところがある。具体的に、双子渦の左側の渦を観察すると、小さく内向きに巻き付く時に、δｎとγｎ＋１を結ぶ仮想線は距離がどんどん短くなる。
Actually, the drawing mechanism using the link mechanism shown in FIGS. 13 to 24 and the expression based thereon, that is, δ is a series of joints or drawing points arranged on the opposite side of β with γ as the axis. In the following form, when it rotates, it becomes a vortex on the left side and winds inside. At this time, there is a place where the distance between the drawing point δn and the drawing point βn + 1 is variable. Specifically, when the vortex on the left side of the twin vortex is observed, the imaginary line connecting δn and γn + 1 becomes shorter and shorter when it is wound inwardly.
γｎ＋１とβｎ＋１の距離は不変なので、δｎは自分のジョイント相手であるβｎ＋１を《γｎ＋１を軸にして》押し回すことで、二点の距離を保つ。この結果、三点（δｎ、γｎ＋１、βｎ＋１）は三角形だったのが一直線に並び、δｎとβｎ＋１を結ぶ仮想線上にγｎ＋１が位置し、δｎとγｎ＋１とを結ぶ仮想線は最短距離になる。
Since the distance between γn + 1 and βn + 1 does not change, δn keeps the distance between two points by pushing its own joint partner βn + 1 << with γn + 1 as the axis >>. As a result, the three points (δn, γn + 1, βn + 1) are triangular but arranged in a straight line, γn + 1 is located on the virtual line connecting δn and βn + 1, and the virtual line connecting δn and γn + 1 is the shortest distance.
δｎとγｎ＋１はその距離がこの後もまだ短くなるが、既に最短距離にあるので、後は、δｎとβｎ＋１のジョイント自体の長さが縮まってゆく。最初は（δｎとγｎ＋１の仮想線距離）＋（γｎ＋１とβｎ＋１のジョイント）＞（δｎとβｎ＋１のジョイント）であり、次第に（δｎとγｎ＋１の仮想線距離）は距離がどんどん短くなり、結果、（δｎとγｎ＋１）＋（γｎ＋１とβｎ＋１）＝（δｎとβｎ＋１）と、距離が等しくなる。この後も（δｎとγｎ＋１）の仮想線距離が短くなろうとするので、（δｎとβｎ＋１）のジョイント自体が短くなる。すなわち、（δｎとγｎ＋１）＋（γｎ＋１とβｎ＋１）＜（δｎとβｎ＋１）となることはない。
The distance between δn and γn + 1 is still shorter after this, but since it is already at the shortest distance, the length of the joint of δn and βn + 1 is reduced thereafter. At first, (virtual line distance of δn and γn + 1) + (joint of γn + 1 and βn + 1)> (joint of δn and βn + 1), and (virtual line distance of δn and γn + 1) gradually becomes shorter, and as a result, ( The distance is equal to δn and γn + 1) + (γn + 1 and βn + 1) = (δn and βn + 1). After this, since the imaginary line distance of (δn and γn + 1) tends to be shortened, the joint of (δn and βn + 1) itself is shortened. That is, (δn and γn + 1) + (γn + 1 and βn + 1) <(δn and βn + 1) does not occur.
次に、本機構の基本形態から、自然動物の随意運動の任意の形態に適用する方法について述べる。古くは、仏教の尼僧であった五枚師太は闘争する鶴の首の動きを観察して、それを元にして、徒手武術を創案したと今に伝えられている。このように、四肢と胴体の運動フォームは基本的に同じである。
Next, from the basic form of this mechanism, a method applied to an arbitrary form of voluntary movement of natural animals will be described. In ancient times, Buddhist nun Gota Shita has been reported to have created a manual martial art based on the movement of the struggling crane's neck. Thus, the limb and torso exercise forms are basically the same.
この理由から、本機構は、表現する動物オブジェクトの胴体、腕（前脚，翼，エラ）、脚に適用できる（図２５〜図７２参照）。胴体部には、みぞおちの上の位置に本機構を置き、関節肢は上部は頭まで、下部は尾まで形成する。上肢に当たる、翼、腕もしくは前脚部には、肩の位置に本機構を置き、胴体の首の付け根と、上肢の駆動リンクの支点及び、従動リンクの支点（図１〜図２４に示されるα１とα２）を連結する。
For this reason, this mechanism can be applied to the body, arm (front leg, wing, gill) and leg of the animal object to be expressed (see FIGS. 25 to 72). In the body part, this mechanism is placed at a position above the groove, and the joint limb is formed from the upper part to the head and the lower part to the tail. This mechanism is placed at the shoulder position on the wing, arm or front leg that hits the upper limb, the base of the neck of the trunk, the fulcrum of the drive link of the upper limb, and the fulcrum of the driven link (α1 shown in FIGS. 1 to 24) And α2).
下肢に当たる、脚もしくは後脚部には、股関節の位置に本機構を置き、胴体の尾の付け根と、下肢の駆動リンクの支点及び従動リンクの支点を連結する。四肢は、関節肢は下部のみ存在し、つま先まで形成する。機構及び関節肢の形態は、機構は基本となる配置条件に沿うことを守り、回転方向は、運動状況により、反時計回りまたは、時計回りになる。関節肢は運動フォームに合わせて変形し、本機構の基本になる二つの形態をミックスして実現する。
This mechanism is placed at the position of the hip joint on the leg or rear leg that hits the lower limb, and the base of the tail of the trunk is connected to the fulcrum of the drive link and the follower link of the lower limb. In the limbs, the joint limbs exist only at the lower part and form up to the toes. The form of the mechanism and the joint limbs keeps the mechanism in line with the basic arrangement condition, and the rotation direction is counterclockwise or clockwise depending on the motion state. The joint limb is deformed according to the movement form, and is realized by mixing the two basic forms of this mechanism.
図２５〜図３６は魚（アジ）の泳法に本発明の基本機構を適用した適用例。図２５（ａ）〜図３６（ａ）は外観透視図、図２５（ｂ）〜図３６（ｂ）は対応するリンク機構の作動状態を示す。
FIG. 25 to FIG. 36 show application examples in which the basic mechanism of the present invention is applied to a fish swimming method. 25 (a) to 36 (a) are external perspective views, and FIGS. 25 (b) to 36 (b) show the operating states of the corresponding link mechanisms.
図３７〜図４８は二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、図３７（ａ）〜図４８（ａ）は全体側面図、腕、脚の外観透視図、図３７（ｂ）〜図４８（ｂ）は対応するリンク機構の作動状態を示す。
37 to 48 show a running state when the basic mechanism of the present invention is applied to a biped animal (person), and FIGS. 37 (a) to 48 (a) are overall side views, and appearances of arms and legs. The perspective views, FIGS. 37 (b) to 48 (b) show the operating states of the corresponding link mechanisms.
図４９〜図６０は二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、図４９（ａ）〜図６０（ａ）は全体側面図、腕、脚の外観透視図、図４９（ｂ）〜図６０（ｂ）は対応するリンク機構の作動状態を示す。
この様に本発明の基本機構を適用することによって、設定を少し変えることで走行→歩行→スキップ→階段の昇降のように、動作表現を多彩に変化させることができる。
49 to 60 show the running state when the basic mechanism of the present invention is applied to a biped animal (person), and FIGS. 49 (a) to 60 (a) are overall side views, and the appearance of arms and legs. The perspective views, FIGS. 49 (b) to 60 (b) show the operating states of the corresponding link mechanisms.
In this way, by applying the basic mechanism of the present invention, it is possible to change the action expression in various ways such as running → walking → skip → stepping up and down by slightly changing the setting.
図６１〜図７２は四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。
61 to 72 show a running state when the basic mechanism of the present invention is applied to a quadruped walking animal (horse, saddle), and shows an overall side view, the appearance of the trunk and the legs, and a structural diagram seen through this.
図７３〜図８４は鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。
73 to 84 show a case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage), and an overall side view, an overall front view, and an external appearance of the body, wings, and legs, and a structural view thereof Indicates.
オートマタ、ロボット、三次元造形および、造型機器、二足、四足歩行、その他の輸送用機器、移動補助機器、防災用機器・医療機器、スポーツ、レジャー用機器、写真機器、音楽機器、楽器、演奏補助品、調理機器、器具、食器、台所用品、釣り用具、ゲーム機器、知育玩具及び遊戯用具、宝飾品及び美術工芸品、オーディオ・ビジュアル作品、以上に関するソフトウェア・プログラム
Automata, robots, 3D modeling and molding equipment, biped, quadruped walking, other transport equipment, mobility aids, disaster prevention and medical equipment, sports and leisure equipment, photographic equipment, music equipment, musical instruments, Software programs related to performance aids, cooking equipment, utensils, tableware, kitchen utensils, fishing equipment, game equipment, educational toys and play equipment, jewelry and arts and crafts, audio-visual works, etc.
２１世紀：２００６、２００７年のサント・クロワのフランソワ・ジュノーと、レガネス自治体によるスペイン・プロジェクトとで制作したアンドロイド（老婆、サッカーボールで遊ぶ少年と少女、馬）
21 century: 2006, and Francois Juneau of Sainte-Croix in 2007, Leganes android that was produced in the Spanish project by local governments (old woman, play with soccer ball boys and girls, horse)
すなわち本発明のリンク機構は、自然動物の運動を表現するための拘束条件を元にして配置することを特徴とする。このリンク機構を用いて、自然動物の運動を実現する人工動物を作成することができる。
That link mechanism of the present invention is characterized by placing based on the constraints to represent the movements of the natural animal. With this link mechanism, it is possible to create an artificial animal to achieve the movements of the natural animal.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
乱流現象の、小さな流れによって基本発生する、双子渦に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図に双子渦画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。Turbulence phenomena, basic generated by small flows, shows a first embodiment of aspects of the link mechanism of the present invention to adapt the twin vortices, first in a manner that compared with twin vortices image in the upper stage (a) FIG. The figure of the clockwise direction in a 1st aspect is shown in the counterclockwise rotation in one aspect, and the lower stage (b).
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における半時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of the turbulent flow phenomenon, is shown, and in the upper part (a), in contrast to the Karman vortex street image A clockwise view of the first embodiment is shown in the counterclockwise direction of the first embodiment, and a lower stage (b) shows a clockwise view of the first embodiment.
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の、大きな流れによって基本発生する、カルマン渦列に適応する本発明の第一の態様の実施の形態のリンク機構を示し、上段（ａ）図にカルマン渦列画像と対比する態様で第一の態様における反時計回り、下段（ｂ）に第一の態様における時計回りの図を示す。The link mechanism of the embodiment of the first aspect of the present invention adapted to the Karman vortex street, which is basically generated by a large flow of turbulent phenomenon, is shown. counterclockwise in the first embodiment, it shows a diagram of a clockwise direction in the first embodiment in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
乱流現象の流れに適応する本発明の態様の実施の形態のリンク機構を示し、上段（ａ）図に反時計回り、下段（ｂ）に時計回りの図を示す。Shows the form of the link mechanism of the present onset bright aspect to adapt to the flow of turbulent phenomena, counterclockwise in the upper part (a) shows, shows a diagram of clockwise in the lower part (b).
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
魚（アジ）の泳法に本発明の基本機構を適用した適用例を示す。An application example in which the basic mechanism of the present invention is applied to a fish swimming method will be shown.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の歩行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。The walking state when the basic mechanism of the present invention is applied to a bipedal animal (person) is shown, (a) is an overall side view, external perspective view of arms and legs, and (b) is the operating state of the corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
二足歩行動物（人）に本発明の基本機構を適用した場合の走行状態を示し、（ａ）は全体側面図、腕、脚の外観透視図、（ｂ）は対応するリンク機構の作動状態を示す。2 shows a running state when the basic mechanism of the present invention is applied to a biped animal (person), (a) is an overall side view, external perspective view of arms and legs, and (b) is an operating state of a corresponding link mechanism. Indicates.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
四足歩行動物（馬、豹）に本発明の基本機構を適用した場合の走行状態を示し、全体側面図、胴体、脚の外観とこれを透視した構造図を示す。The running state at the time of applying the basic mechanism of the present invention to a quadruped walking animal (horse, saddle) is shown, and an overall side view, the appearance of the trunk and the legs, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.
鳥（隼）に本発明の基本機構を適用し羽ばたきが表現される場合を示し、全体側面図、全体正面図及び胴体、翼、脚の外観とこれを透視した構造図を示す。A case where the flapping is expressed by applying the basic mechanism of the present invention to a bird (cage) is shown, and an overall side view, an overall front view, and an external appearance of a trunk, a wing, and a leg, and a structural view thereof are shown.