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).

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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

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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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