2009(a)ArkhipovSV

The publication describes the design of a walking machine, the ball support joint of which contains a flexible element - an analogue of the ligamentum capitis femoris (LCF). The proposed machine can be used to explore other planets. The practical implementation of this idea has already begun: «Robot dog trains to walk on Moon in Oregon trials» [bbc.com]

STEPPING MACHINE

(Шагающая машина)

Patent Application RU2009137007A

Inventor

Сергей Васильевич Архипов

(Sergey Vasilyevich Arkhipov)

Original Assignee

Сергей Васильевич Архипов

(Sergey Vasilyevich Arkhipov)

Application RU2009137007/11A events

2009-10-06 Application filed by Сергей Васильевич Архипов (RU), Sergey Vasilyevich Arkhipov

2009-10-06 Priority to RU2009137007/11A

2011-04-20 Publication of RU2009137007A

Claims

A walking machine comprising a system of movably connected housings to which two walking movers are movably connected, consisting of two or more levers movably connected and a support element in the lower part, all moving connections of the walking mover are equipped with dampers and power drives, and the levers, support elements, power drives, dampers and housings can be equipped with the necessary sensors, while all movable joints are closed with reinforced covers, contain lubricant, can be supplied with elastic damping elements, and the surfaces of friction pairs can have special coatings, in addition to this, the housing contains a power unit, a power source, stabilization, orientation, control and navigation systems, and can be equipped with walking supports, wheels, as well as tracks with their own power drives, or manipulators, characterized in that the main body is movably connected to two additional side bodies, each of which is provided with a spherical recess in which a movable ball head of the upper end of the upper about the lever, made in the form of a bracket, and the ball head is connected by a flexible elastic element with the bottom of the shaped groove made in a spherical recess, and the upper lever forms an open angle with the underlying lever in the unbent position, in addition to this body, the levers and support elements can be interconnected flexible elastic elements located both inside and outside the movable joints.

Description of the invention

Description in Russian is available at the link: 2009АрхиповСВ (the blog has a translation function).

External links:

Arkhipov SV. Stepping machine. Application for invention № 2009137007 (052355) dated October 10, 2009. [in Russian] (Архипов СВ. Шагающая машина. Заявка на изобретение №2009137007 (052355) от 06.10.2009.) [patents.google]

Keywords:

ligamentum capitis femoris, ligamentum teres, ligament of head of femur, stepping machine, walking machine, ball joint, joint with flexible elements

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MECHANICS AND ROBOTICS

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LCF in 2026 (September)

LCF in 2026 (September ) (Quotes from articles and books published in September 2026 mentioning the ligamentum capitis femoris) Goetz, J. E., Hockman, J., & Willey, M. C. (2026). Rabbit models of hip dysplasia: a narrative review. Laboratory animal research , 42 (1), 32. [i] link.springer.com Kahana-Rojkind, A. H., Strok, M. J., Walsh, E. G., Quesada-Jimenez, R., Kuhns, B. D., & Domb, B. G. (2026). Factors Associated With Return to Sport at Minimum 10-Year Follow-up in Athletes With Borderline Hip Dysplasia Undergoing Hip Arthroscopy With Capsular Plication. Orthopaedic Journal of Sports Medicine , 14 (9), 23259671261451218. [ii] journals.sagepub.com Stanard, I., Almhanna, H., Al-Mahmodi, A. M. M., Kilroy, D., & Kumar, A. H. (2026). Comparative Analysis of Vascular Density in the Femoral Head Ligament of the Dog, Sheep, and Goat. [iii] oajr.org , researchgate.net Hirt, J., Roshardt, ...

1785SandifortE

Fragments from the book Sandifort E. Descriptio ossium hominis. (1785). The author briefly writes about the attachment of the ligamentum capitis femoris (LCF). Quote p. 104 [Lat] Os ischium… … Qua spectat pelvim (a) os ischion æquabile est, modice cavatum, ab exteriore profunde sinuatum (b). Sinus hic, quem acetabulum vocant, maximus, sere rotundus, est, dividique potest in partes duas, alteram semilunarem quodammodo, cartilagine tectam (c), hinc æquabilem, alteram altius excavatam, asperam (d), glandulæ muciparæ sedem præbentem, & educentem ligamentum teres, quod capiti ossis femoris infigitur (e). … Quote p. 108-109 [Lat] Femoris os … … Caput magnum, globosum, cartilagine lævi incrustatum, oblique positum (b), id est, sursum introrsumque tendens, magnitudine & figura cum acetabulo (i) congruens, intra illud admittitur, illique alligatur per ligamentum teres, quod firmiter adhæret ab altera parte acetabulo, ab altera sinui profundo, inæquabili, qui in dicto capite est (k...

LCF in 2026 (August)

LCF in 2026 (August ) (Quotes from articles and books published in August 2026 mentioning the ligamentum capitis femoris) Maldonado, D. R., Schab, A. R., & Domb, B. G. (2026). Improvement in Patient‐Reported Outcomes, High Rate of Return to Sport, and Secondary Surgery Rate Ranging From 0% to 9.8% After Hip Arthroscopy in Dancers and Athletes in Flexibility Sports: A Systematic Review. Arthroscopy, Sports Medicine, and Rehabilitation , e70020. [i] arthroscopyjournals.onlinelibrary.wiley.com Klingele, K., & Strub, D. (2026). Author Response: Considerations and Challenges in Open Reduction With Ligamentum Teres Reconstruction for Pediatric Developmental Dysplasia of the Hip. Journal of Pediatric Orthopaedics . [ii] ovid.com Quesada‐Jimenez, R., Rana, K., Strok, M. J., Kahana‐Rojkind, A. H., Burt, A. K., Sugarman, E. P., & Domb, B. G. (2026). Dual Labral and Ligamentum Ter...

18c.FontebassoF

Fontebasso F, painting, Jacob wrestling with the angel (18th cent.). Depicting the circumstances and mechanism of the ligamentum capitis femoris (LCF) injury based on the description in the Book of Genesis: 25 And Ja cob was left alone; and there wrestled a man with him until the breaking of the day. 26 And when he saw that he could not pre vail against him, he struck against the hollow of his thigh ; and the hollow of Jacob's thigh was put out of joint, as he was wrestling with him. … 33 Therefore do the children of Israel not eat the sinew which shrank, which is upon the hollow of the thigh, unto this day; because he struck against the hollow of Jacob's thigh on the sinew that shrank. ( 1922LeeserI , Genesis (Bereshit) 32:25-26,33) More about the plot in our work: Ninth month, eleventh day ( 2024АрхиповСВ. Девятый месяц, одиннадцатый день ). Francesco Fontebasso – Jacob Wrestling with the Angel (18th cent.); original in the matthiesenga...

Tiktaalik roseae

TIKTAALIK ROSEAE The first truly tetrapod animal (Limbed tetrapods) is recognized as the lobe-finned fish Tiktaalik roseae (clade Elpistostegalia), discovered in rocks aged about 375 Ma (2006DaeschlerEB_JenkinsJrFA; 2008ShubinN; 2017ShubinN). Discoveries in recent years have allowed us to place the taxa of early tetrapodomorphs in the following order: Tinirau, Eusthenopteron, Megalichthys, Panderichthys, Qikiqtania, Tiktaalik, Elpistostege, Parmastega, Ventastega, Acanthostega, Elginerpeton, Ymeria, Ichthyostega (2022StewartTA_ShubinNH). The closest ancestor of Tiktaalik roseae, the fragments of the skeleton of which are relatively well preserved, is Panderichthys. Reconstruction of the prehistoric fish Pandericthys Author Tyler Rhodes; original in the wikipedia.org collection (license CC BY-SA 3.0, no changes). The shape of the skeleton of the pectoral fin and shoulder girdle suggests that Panderichthys rhombolepis "walked" (2006AhlbergPE_ClackJA). At the very least...

Homo ergaster

HOMO ERGASTER The Homo ergaster species lived in Africa 1.8 million years ago and was alive until 600,000 years ago, likely becoming the ancestor of Homo erectus in Asia, Homo neanderthalensis in Europe, and Homo sapiens in Africa (1995CachelS_HarrisJ; 2005KleinR). Homo ergaster is occasionally equated with Homo erectus in publications (2013TattersallI). The most complete Homo ergaster skeleton belongs to an adolescent named "Turkana Boy" (KNM-WT 15000). The young man was between 8 and 12 years old (2010GravesRR_CunninghamDL; 2019BergmanJ). The age of this individual's remains is believed to be 1.6 million years (2007TattersallI). Turkana Boy (reconstruction) Author: Mettmann Neanderthal Museum; source: wikimedia.org collection (license CC BY-SA 4.0, no changes). The pelvis of specimen KNM-WT 15000 is well preserved. It shows ossified acetabulums. In turn, they have spacious acetabular fossae and wide acetabular notches. Based on these elements, it is possible to conc...

HISTORY OF THE STUDY

HISTORY OF THE STUDY (Reconstruction of the chronology of scientific achievements and events... ) The First Scientific Mention (video ) The first described of the LCF is Hippocrates (ca. 460-370 BCE). 1495Johannes de Ketham An excerpt from the treatise by Mondino de Luzzi describing the anatomy and role of LCF damage in the genesis of hip diseases. 1541MondinoL_DryanderJ An early description of the anatomy and role of the LCF is presented. 1550CortiM An early descri ption ( Mondino ) of the anatomy and role of LCF is presented, and a rare synonym is mentioned. 1725AndryN The author who proposed the term «orthopedics» and its symbol, taught us about the function of the LCF in the essay « Examen de divers points d'anatomie, de chirurgie, de physique, de medecine...». 1957SingerC The author discusses the connective function of the LCF, as well as its damage in hip dislocation and pathological transfor...

1527BenedettiA

Fragment from the book Benedetti A. Anatomice siue historia corporis humani (1527). The author explains the origin of the rare synonym of ligamentum capitis femoris (LCF) – ischion. Quote. Liber V. De femine et eius prolapsu. Cap. XXXI Sinus coxae à graecis cotylae, à nostris acetabula dicuntur, quae hos sinus complent circa quae uersurae siunt, coxendices uocatur, à graecis ischia, à quib ischiadici dicti sunt, qui coxedice laborant. Nam et neruus quo coxendix acetabulo comittitur, ischion quoqʒ dicitur. Translation [Eng] Book V. On the Hip and Its Prolapse. Chapter XXXI. The pelvic sinuses are called cups (cotylae) by the Greeks, and in these sinuses, we have an inkwell (acetabula). The region around which the movements take place is called the coxendices (hip joint), by the Greeks the sciatic (ischia), from which the term ischiadici (related to the hip) comes for those suffering from hip issues. And the sinew/nerve (neruus) which connects the hip (coxendix) to the ...

MORPHOLOGY AND TOPOGRAPHY

MORPHOLOGY AND TOPOGRAPHY ( Anatomy, histology, embryology, topography in normal and pathological conditions. .. ) 1176-1178(b)Rambam The author writes about the localization of LCF (גיד) ) and distinguishes it from a tendon, blood vessel or nerve. 1523Berengario da CarpiJ The author describes the attachment, physical properties and role of the LCF. 1543(a)VesaliusA The author describes the anatomy, attachment, properties and role of LCF, also interprets its synonyms. 1543(b)VesaliusA The author describes the attachment and shape of the LCF. 1555VesaliusA The author describes the anatomy, attachment, properties and role of LCF, also interprets its synonyms (second edition of the treatise) . 1559ColomboMR Selected fragments of the treatise describe the topography, function, geometric and physical properties of the LCF. 1600LaurensA The author writes about the anatomy, attachment, propertie...

1878MarshallJ

Fragments from the book Marshall J. Anatomy for artists (1878). The author discusses the anatomy and briefly the role of the ligamentum capitis femoris (LCF): «… checks adduction of the thigh, or a sinking down of the pelvis upon the opposite side, and, possibly, also limits the reciprocal, horizontal rotatory movements of the femur and the pelvis on each other» . Quote p. 65 The head of the femur is almost entirely received into the acetabulum, a deep socket of the hip-bone, thus forming the largest and most complete ball-and- socket joint in the body. At a point on the inner side of the head of the femur, a little below and also behind its centre, is a small rough, bifid , depression, for the attachment of the ligamentum teres of the hip-joint. Opposite this point, the head of the bone is, however, more prominent than elsewhere, and corresponds with a non- articular depressed portion of the acetabulum. Quote p. 68 The ligamentum teres, which is attached by one en...

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