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

Comments

LCF in 2026 (July)

LCF in 2026 (July ) (Quotes from articles and books published in July 2026 mentioning the ligamentum capitis femoris) Çetik, R. M., Bakırcıoğlu, S., Büyükdoğan, K., Çağlar, Ö., Atay, Ö. A., & Atilla, B. (2026). Cam-type femoro-acetabular impingement: Mid-term functional results and joint awareness of arthroscopic, mini-open and surgical dislocation techniques. Acta Medica , 57 (2), 123-131. [i] actamedica.org Khan, M. Y., Khan, R., Shaikh, H., Persaud, N. A., Rama, S., & Khan, Y. (2026). Evolution of Hip Arthroscopy in Modern Orthopedic Practice. Cureus , 18 (6). [ii] cureus.com Sanders, W. J., Ji, X. P., & Jablonski, N. G. (2026). New remains of Stegodon zhaotongensis (Proboscidea, Stegodontidae) from the Late Miocene site of Shuitangba, Yunnan Province, China. Journal of Mammalian Evolution , 33 (3), 33. [iii] link.springer.com Randelli, F. (2026...

1605BauhinC

Fragment from the book Bauhin C. Theatrum anatomicum (1605). The author writes about the attachment, function, possible elongation and damage of the ligamentum capitis femoris (LCF). Lameness after dislocation is mentioned and its cause is explained. In the margins of the page are references to the works of other authors Vesalius , Laurens , Arch ang ( Archangelo Piccolomini ??? ) . Quote p. 1244. Liber IV. DE LIGAMENTIS OSSIS ILII & sacri et que in toto pede habentur. CAP. XXXIX. Femur, coxendicis articulo duplici ligamento nectitur; altero communi membrane, articulum orbiculatim ambit, quod Græci [ischos], totius articuli nomine vocarunt; quod cætera, articulos ambientia crassitie, duritie, & robore su perat, cum articulus hic corpus totum sustinere & motus validos perferre debuerit. Hoc articulo & femoris ceruici accumbit & solum radici magni processus orbiculatim adnascitur, quo motus capitis ipsius femoris non impediantur. Alterum ipsius ligamentum teres...

Human LCF intersection

HUMAN LCF INTERSECTION In the south of China, in the Guangxi Zhuang Autonomous Region, the archaeological Neolithic site of Dingsishan was investigated. Burials of 355 people were found in this place. The authors of the article (2024YeZ_LiFJ) identified 91 skeletons with traces of manipulations with the remains. They are attributed to burials of the Dingsishan III-IV phase, aged 8.0-4.5 thousand years. 13 notches were found on the proximal part of various femurs. « Cutmarks on the femoral head, neck and intertrochanteric line, as well as along the medial linea aspera of the femoral shaft, suggest that soft tissue around the hip, including the iliofemoral ligament and the iliacus and adductor muscles, was severed to disarticulate the joint.» This and other postmortem bone injuries «... suggests that corpse treatment at Dingsishan included disarticulation » (2024YeZ_LiFJ). Figure 4 of the cited article shows the distribution and direction of cutmarks on human skeletons from Dingx...

Great Compilation. Chapter 41

English version of the article: Архипов СВ. Книга Берешит как великая компиляция текстов и смыслов Второго переходного периода Египта: пилотная культурологическая, медицинская, археологическая и текстологическая экспертиза преданий против традиционной атрибуции. Введение. О круглой связке бедра . 14.02.2026 . The text in Russian is available at the following link: 2026АрхиповСВ . The Book of Genesis as a Great Compilation of Texts and Meanings from the Second Intermediate Period of Egypt: A Pilot Culturological, Medical, Archaeological, and Textological Examination of the Legends versus Traditional Attribution. Chapter 41 By Sergey V. Arkhipov, MD, PhD CONTENT [i] Abstract [ii] Book of Genesis. Chapter 41 Analysis [iii] Notes to Chapter 41 [iv] AI Agent's Conclusion [v] Content [vi] External links [vii] Application [i] Abstract The Book of Genesis (Bereshith) was compo...

THE OLDEST LCF

The very first four-legged animal, the lobe-finned fish Tiktaalik roseae, lived about 375 million years ago. Based on indirect evidence (paired notches of the acetabulum), we believe that in the hip joint it had two ligaments of the head of femur, in Latin called ligamentum capitis femoris (LCF). A similar anatomy of the hip joint is preserved in the salamander. Illustration Tiktaalik roseae is the first animal to have a LCF A) 3D model of the right pelvic bone of the fish Tiktaalik roseae (fragment of a screenshot: media.hhmi.org ), where we depicted the dissected anterior LCF (lig.cap.fem.ant.) and posterior LCF (lig.cap.fem.post.), that are attached to the corresponding notches of the acetabulum ( inc.ac.ant. & inc.ac.post.). Below the pelvis is a photograph of our model of the Tiktaalik roseae femur with fragments of two LCFs (a fossil femur of Tiktaalik roseae has not yet been discovered). B) View of a salamander femur with a proximal fragment of the ilia...

911-612bcK2453

Fragment of the text of clay tablet K 2453 (Nineveh; ca. 911-612 BC; maybe 5000-4000 BC). A recommendation for a ritual or magical act may mention the sheep's ligamentum capitis femoris (LCF). See our commentary at the link: 911-612bcK2453 [Rus]. Quote [Akk] Clay tablet К 2453 (original source: photo by Ashurbanipal Library Project cdli.mpiwg-berlin.mpg.de , text: 1906 ThompsonRC , plate. 12). Translation [Eng] Clay tablet К 2453 (reverse ) 42. (if a man’s leg is affected) SA ÚR UDU.NITÁ ša GÙB teleqqe you take the sinew from the left thigh of a sheep ( original source: 1992RothMT , p. 312). ( original source: Cuneiform Digital Library Initiative cdli.mpiwg-berlin.mpg.de ) External links Clay tablet; CT 23, pl. 05-14, K 02453 + (P365736). Nineveh (mod. Kuyunjik), Neo-Assyrian period (ca. 911-612 BC). [ cdli.mpiwg-berlin.mpg.de , ebl.lmu.de ] Thompson RC. Cuneiform Texts. Cuneiform Texts from Babylonian Tablets in the British Museum. P...

80-58bcApollonius Citiensis

Fragment from the treatise Apollonius Citiensis Commentary on the Hippocrates’ book On Joints ( Περὶ αρθρων π ραγματεὶα , 80-58 BC). The author notes the possibility of damage to the ligamentum capitis femoris (LCF) during hip dislocation. See our commentary at the link: 80-58bcApollonius Citiensis [Rus], and 2020ArkhipovSV_ProlyginaIV . Quote. [Grc] Περὶ αρθρων π ραγματεὶα . Βιβλιον γ ʹ . (original source: 1965KolleschJ_KudlienF, pp. 86, 88) Translation [Eng] Commentary On Joints ( Commentary on the Hippocrates’ book On Joints). Book 3. If the dislocated and displaced hip could not remain in place, then the physician [Hippocrates] would have clearly indicated the incurability of this case, so that we would not be led astray. Don't those who hold the opposite opinion know about the nature of joints, ligaments and the teachings about these things in general? After all, the physician considered the cause of the mild or, on the contrary, complex displacement and ...

Hip disarticulation of the human

Hip disarticulation of the human Hip disarticulation of the human. Postmortem surgery with transection of the LCF in humans 15-12.5 thousand years ago. Presumably, the first postmortem arthrotomy of the hip joint with disarticulation was performed in Morocco 15.000-12.500 years ago. This is confirmed by multiple cuts on the femoral neck of a man from the burial of Taf V-18 ( Taforalt Iberomaurusian necropolis ). «T he cuts on the femoral neck were produced by severing the ligaments of the articular capsula in order to disarticulate the bone from the pelvis. There are no pelvic bones in the grave.» ( 2016MariottiV_CondemiS:Fig.2 ). We counted more than a dozen longitudinal, fairly deep cuts in the middle part of the femoral neck. Their length varies from about two to ten millimeters and occupies a surface of 1 cm along the length of the femoral neck and 2 cm in width. The mentioned cuts on the cortical plate and the absence of pelvic bones in the burial are evidence of the disarti...

Vertebrates

VERTEBRATES According to the molecular clock, a specific method for dating phylogenetic events, vertebrates (Vertebrata) separated from arthropods (Arthropoda) 976±97 Ma (2004HedgesSB_ShoeJL). The latter began to dominate in species diversity with the Cambrian burst of radiation, which occurred 520 Ma (2010EdgecombeGD). This ratio in the fauna of the Earth is still preserved. Approximately 525 Ma, the phylum Chordates separated from the group of bilaterally symmetrical animals (1995ChenJY_ZhouGQ). In turn, the evolution of chordate organisms led to the formation of the first vertebrates at least 500 Ma, from which the jawed mouths 450-400 Ma descended, becoming the ancestors of the placoderms or "armored" fish (Placodermi) (1979 НаумовНП _ КарташевНН ). Sculptural reconstruction of the placoderm Coccosteus from the order Arthrodires, Middle Devonian, 393.3-382.7 Ma ; exposition of the Orlov Paleontological Museum (Moscow); photo by the author. The first cartilaginou...

1176-1178(a)Rambam

Fragments from the book Rambam. Mishneh Torah. Sefer Shofetim, Negative Mitzvot (1176-1178). The treatise Mishneh Torah – legal code, work of Jewish law, its parts Sefer Shofetim (Kings and Wars) and Negative Mitzvot ( Negative Commandments ) was written between about 1176-1178 years in Egypt ( 1sefaria.org , 2sefaria.org ). The author mentions the pathology of ligamentum capitis femoris (LCF, גיד) in humans and points out the presence of this structure in animals. See our commentary at the link: 1176-1178(a)Rambam [Rus]. Quote 1. [Heb] Mishneh Torah. Sefer Shofetim, 9.1 (original source: sefaria.org ) Quote 2. [Heb] Mishneh Torah. Negative Mitzvot, 183 (original source: sefaria.org ) Translation Quote 1. [Eng] Mishneh Torah. Laws of Kings and Wars (The Book of Judges ) , 9.1-3 9.1 Adam, the first man, was commanded with six commandments: 1) idolatry, 2) “blessing” (euphemistically) the Name (of G-d), 3) murder, 4) illicit sexual relations, 5) thievery...

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