長脚ダイレクトドライブ単脚ロボットが実現した卓越した跳躍高
A Long-Legged, Direct-Drive Monopedal Robot Achieves Exceptional Jump Height
弾性エネルギー蓄積を使わず、布巻き伝達機構とプロペラ制御により7.6mの跳躍を達成した単脚ロボットを開発した。
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著者: Gihyeok Na, Justin K. Yim
分類: cs.RO
原文アブストラクト
We demonstrate a jumping robot that reaches high (7.6 m) and fast (190 ms stance time) jumps from a single long leg driven by a direct-drive transmission, without elastic energy storage. At 281 g, it achieves the highest jump yet reported for an electrically actuated, spring-free system. The leg uses a new fabric-wrap transmission that provides a variable mechanical advantage, keeping a small electric motor near its peak power output through the stroke while bracing the long, lightweight leg against buckling. A balancing module at the top of the leg uses small propellers to control the leg's orientation on the ground and in the air, where the long leg provides a large moment arm for the control torques. The robot is validated outdoors with vertical jumps, attitude control on the ground and in flight, and tilted jumps.
