2015(a)ArkhipovSV_ArkhipovaAS

The publication describes the design of an anthropomorphic walking platform, the ball support joint of which contains a flexible element - an analogue of the ligamentum capitis femoris (LCF).

ANTHROPOMORPHIC STEPPING PLATFORM

(Антропоморфная шагающая платформа)

Patent Application RU2015134113A

Inventors:

Сергей Васильевич Архипов,

Александра Сергеевна Архипова

(Sergey Vasilyevich Arkhipov,

Alexandra Sergeevna Arkhipova)

Original Assignee

Сергей Васильевич Архипов

(Sergey Vasilyevich Arkhipov)

Application RU2015134113A events

2015-08-13

Application filed by Сергей Васильевич Архипов

2015-08-13

Priority to RU2015134113A

2017-02-14

Publication of RU2015134113A

Claims

An anthropomorphic walking platform containing sensors, video cameras, positioning and control devices, a computer system, as well as a movably connected fore part equipped with manipulators, and a stern part equipped with pedipulators having two or more movably connected segments, as well as drives, elastic elements, sensors acting forces and accelerations, characterized in that the bow having an upper and lower body is located mainly vertically, and its upper body can be equipped with at least two knowing the rounded cameras located on the towers, the bases of which are connected by a concave plane, in addition, the upper body of the bow is movably connected to its lower body, which is movably, with the possibility of tilt in the frontal and sagittal plane, as well as rotation relative to the vertical axis, connected to the middle the aft housing, movably connected to two side housings, to each of which a pedipulator is movably connected by means of ball joints with flexible elements, the movable The hulls, pedipulators and manipulators contain controllable power drives, elastic tensile elements, and flexible inextensible elements that are functional connections, and are equipped with force measuring devices; in addition, the aft part contains one or more energy recovery devices connected to the pedipulators and the lower case bow, which may also contain one or more energy recovery devices connected to the manipulators of the upper body and the aft.

Description of the invention

Description in Russian is available at the link: 2015(a)АрхиповСВ_АрхиповаАС (the blog has a translation function).

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Fig. 10

Fig. 11

Fig. 12

Fig. 13

Fig. 14

External links:

Arkhipov SV, Arkhipova AS. Anthropomorphic stepping platform. Application for invention № 2015134113 (052441) dated August 13, 2015. [in Russian] (Архипов СВ. Архипова АС. Антропоморфная шагающая платформа. Заявка на изобретение №2015134113 от 13.08.2015.) [patents.google]

Keywords:

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

BLOG CONTENT

MECHANICS AND ROBOTICS

Comments

21cent.bcBaqetIII

Groups of wrestlers on the walls of tomb BH15, belonging to Baqet III – a contemporary of Pharaoh Mentuhotep II (frescoes, Beni Hasan, Egypt). These images depict wrestling scenes and the circumstances under which injuries to the hip joint — including the ligamentum capitis femoris (LCF) — might occur. The frescoes appear to have served as the basis for the description of wrestling found 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: Nint...

Tweet of October 26, 2026

The new book about the first patient with a #ligamentum_teres injury. PDF: http://books.google.com/books/about?id=OcogEgAAQBAJ Manuscript: https://roundligament.blogspot.com/2026/10/medical-record-title-and-contents.html Tweet of October 26, 2026 #Bible #Genesis BLOG CONTENT TWITTER OR X

1893GriffithFL

Griffith F.L. (1893): A group of wrestlers on the wall of the tomb of Baqet III (fresco, late 20th century BCE, Egypt). A depiction of the circumstances surrounding a hip joint injury—possibly involving the ligamentum capitis femoris (LCF) – which served as the basis for the description of a wrestling match 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 ) and Medical Record (2026Ar...

NEWS 2026

New publications of our resource in 2026 The initial phase of collecting data on LCF, accumulated prior to the 20th century, is largely complete. Next, we plan to analyze and synthesize thematic information, adding data from the 20th and 21st centuries. The work will focus primarily on: prevention, diagnosis, arthroscopy, plastic surgery, and endoprosthetics. November 1 , 2026 LCF in 2026 (November) Quotes from articl es and books published in November 2026 mentioning the ligamentum capitis femoris . October 29 , 2026 22cent.bcBaqetI . Fresco. A depiction of the circumstances surrounding a hip joint injury. October 28 , 2026 17cent.Akrotiri . Fre sco. A depiction of the circumstances surrounding a hip joint injury. 20cent.bcAmenemhet . Fresco. A depiction of the circumstances surrounding a hip joint injury. 20cent.bcKhety . Fresco. A depiction of the circumstances surrounding a hip joint injury. 21cent.bcBaqetIII . Fresco....

20cent.bcAmenemhet

Groups of wrestlers on the walls of tomb BH2, belonging to Amenemhat (Ameni)—a contemporary of Pharaoh Senusret I (frescoes, Beni Hasan, Egypt). These images depict wrestling scenes and the circumstances under which injuries to the hip joint—including the ligamentum capitis femoris (LCF)—might occur. The frescoes appear to have served as the basis for the description of wrestling found 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...

MEDICAL RECORD. Chapter 2

Book manuscript: Arkhipov S.V. Medical Record: The Contribution of a Middle Bronze Age Egyptian Physician to the Book of Genesis. Kyrö: Author’s Edition, 2026. – 312 pp. – 2 tables. – Bibliographical references: 856 entries. play.google.com , books.google.com Introduction Chapter 2 Chronology of the Medical Record CONTENT [i] Text [ii] Navigation [iii] Application [i] Text When reading the Book of Genesis , we learn that the first recorded patient with an injury to the ligament of the head of femur was a man named Ya'akov (Gen. 32:25, 33). In adapted usage, the name is rendered as Jacob. According to the narrative, he was born near the well of Beer-Lahai-Roi, between Kadesh and Bered in the Negev Desert, which is in the south of the "Canaanite" land (Gen. 16:14, 23:19, 24:62). As is clear from the text, the "Canaanite land" is the western part of the current State of Israel, excluding the vicinity of the Jordan River (Gen. 13:11–12). Jacob's father ...

MEDICAL RECORD. Title and contents

Book manuscript: Arkhipov S.V. Medical Record: The Contribution of a Middle Bronze Age Egyptian Physician to the Book of Genesis. Kyrö : Author’s Edition, 2026. – 312 pp. – 2 tables. – Bibliographical references: 856 entries. Google Books ID: GGKEY:5GXG1LS275N , play.google.com , books.google.com Title, Abstract and Contents CONTENT [i] Abstract [ii] Dedication [iii] Book Covers and Title [iv] Table of Contents [v] Application [i] ABSTRACT Before you is the final medical record compiled by the author over a professional career as an orthopaedic surgeon. This work outlines information regarding a patient who sustained a hip joint injury in the Middle Bronze Age. The source material is extracted from the Book of Genesis and cross-referenced with facts from history, archaeology, natural science, and medicine past and present. Along the way, it is demonstrated that the protograph was composed in Ancient Egypt during the Second Intermediate P...

22cent.bcBaqetI

Groups of wrestlers are depicted on the walls of tomb BH29, belonging to Baqet I – a contemporary of the pharaohs of the early 11th Dynasty (frescoes, Beni Hasan, Egypt). The images show wrestling scenes and the circumstances under which injuries to the hip joint – including the ligamentum capitis femoris (LCF) – might occur. These frescoes appear to have served as the basis for the description of a wrestling match found 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) Mo...

20cent.bcKhety

Groups of wrestlers on the walls of tomb BH17, belonging to Khety—possibly the son of Baqet III and a contemporary of Pharaoh Senusret I (frescoes, Beni Hasan, Egypt). These images depict wrestling scenes and the circumstances under which injuries to the hip joint — including the ligamentum capitis femoris (LCF) — might occur. The frescoes appear to have served as the basis for the description of wrestling found 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...

17cent.Akrotiri

The " Akrotiri Boxer Fresco ", found on the wall of a room in a house in the town of Akrotiri on the island of Thera—a site destroyed by the Minoan eruption (late 17th century BCE). The image depicts a bout that may have served as the basis for the legend concerning an injury to the hip joint and the *ligamentum capitis femoris* (LCF), as described 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 ( 202...

Search This Blog