RAMIEL: 高く連続的な跳躍を実現するパラレルワイヤ駆動単脚ロボット
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
6本のワイヤで駆動するパラレルワイヤ式の脚構造を提案し、単脚ロボットRAMIELを開発して最大1.6mの跳躍と最大7回の連続跳躍を実現した。
著者: Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu, Kento Kawaharazuka, Akihiro Miki, Yoshimoto Ribayashi, Masahiro Bando, Kunio Kojima, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
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.
