Passive walking apparatus and passive walking module

A passive walking apparatus comprising:

• a hip portion including a first side portion and a second side portion located opposite to the first side portion;
• a first leg coupled to the first side portion;
• a second leg coupled to the second side portion;
• and
• a crank mechanism including a first-leg-side crank portion provided on a side of the first side portion, a second-leg-side crank portion provided on a side of the second side portion as being opposite in phase to the first-leg-side crank portion, a crankshaft coupling the first-leg-side crank portion and the second-leg-side crank portion to each other, a first-leg-side connection portion connected to the first leg and the first-leg-side crank portion, and a second-leg-side connection portion connected to the second-leg-side crank portion and the second leg,
• wherein the first-leg-side connection portion is configured to pivot the first-leg-side crank portion, the first-leg-side crank portion is configured to pivot the second-leg-side crank portion around the crankshaft, and the second-leg-side connection portion is interposed between the second-leg-side crank portion and the second leg such that the second-leg-side crank portion moves the second leg forward relative to the hip portion when the first leg moves rearward relative to the hip portion in contact with a walking surface.