Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both continuous and high jumps is advantageous for moving around in a three-dimensional environment. In this study, we propose a parallel wire-driven leg structure, which has one DoF of linear motion and two DoFs of rotation and is controlled by six wires, as a structure that can achieve both continuous jumping and high jumping. The proposed structure can simultaneously achieve high controllability on each DoF, long acceleration distance and high power required for jumping. In order to verify the jumping performance of the parallel wire-driven leg structure, we have developed a parallel wire-driven monopedal robot, RAMIEL. RAMIEL is equipped with quasi-direct drive, high power wire winding mechanisms and a lightweight leg, and can achieve a maximum jumping height of 1.6 m and a maximum of seven continuous jumps.
Cite
@article{arxiv.2311.04573,
title = {RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping},
author = {Temma Suzuki and Yasunori Toshimitsu and Yuya Nagamatsu and Kento Kawaharazuka and Akihiro Miki and Yoshimoto Ribayashi and Masahiro Bando and Kunio Kojima and Yohei Kakiuchi and Kei Okada and Masayuki Inaba},
journal= {arXiv preprint arXiv:2311.04573},
year = {2023}
}
Comments
accepted at IROS2022 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2022, website - https://tenrobo18.github.io/ramiel-iros2022/