RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping

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 p...

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Main Authors: Suzuki, Temma, Toshimitsu, Yasunori, Nagamatsu, Yuya, Kawaharazuka, Kento, Miki, Akihiro, Ribayashi, Yoshimoto, Bando, Masahiro, Kojima, Kunio, Kakiuchi, Yohei, Okada, Kei, Inaba, Masayuki
Format: Conference Proceeding
Language:English
Subjects:
Controllability
Estimation
Intelligent robots
Legged locomotion
Windings
Wires
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creator Suzuki, Temma
Toshimitsu, Yasunori
Nagamatsu, Yuya
Kawaharazuka, Kento
Miki, Akihiro
Ribayashi, Yoshimoto
Bando, Masahiro
Kojima, Kunio
Kakiuchi, Yohei
Okada, Kei
Inaba, Masayuki
description 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.
doi_str_mv 10.1109/IROS47612.2022.9981963
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source IEEE Xplore All Conference Series
subjects Controllability
Estimation
Intelligent robots
Legged locomotion
Windings
Wires
title RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
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