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.

翻译：具备高运动性能的腿式机器人已被广泛研究，多种腿部构型被相继提出。特别地，能在三维环境中实现连续高跳跃的腿部结构具有显著优势。本研究提出一种并行线驱腿部结构——该结构包含一个直线运动自由度与两个旋转自由度，通过六根线缆协同控制，可在实现连续跳跃的同时完成高跳跃。该结构可同时保证各自由度的高可控性、长加速度距离以及跳跃所需的高功率输出。为验证并行线驱腿部结构的跳跃性能，我们研制了单腿机器人RAMIEL。RAMIEL配备准直驱高功率绕线机构与轻量化腿部，可实现最大1.6米跳跃高度与最多七次连续跳跃。