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

Abstract

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.

arXiv commentaccepted at IROS2022 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2022, website - https://tenrobo18.github.io/ramiel-iros2022/

Cited by in corpus (4)

• StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
• Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail
• Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning
• Robot Design Optimization with Rotational and Prismatic Joints using Black-Box Multi-Objective Optimization