RAMIEL：一种用于高跳与连续跳跃的并联绳驱动单足机器人
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
AI总结：
本研究提出一种由6根绳索控制、具备1个直线与2个转动自由度的并联绳驱动腿部结构，研发出单足机器人RAMIEL，验证其可实现1.6米最大跳高技术指标与最多7次连续跳跃，兼顾高跳与连续跳跃能力。
摘要：
具有高运动性能的足式机器人已被广泛研究，学界也提出了多种腿部结构。尤其是能够同时实现连续跳跃与高跳的腿部结构，对于在三维环境中移动具有显著优势。本研究提出了一种并联绳驱动腿部结构，该结构具备1个直线运动自由度与2个转动自由度，由6根绳索控制，可同时实现连续跳跃与高跳。该结构能同时实现各自由度的高可控性、长加速距离以及跳跃所需的高功率。为验证该并联绳驱动腿部结构的跳跃性能，我们研发了一款并联绳驱动单足机器人RAMIEL。RAMIEL配备准直驱、高功率绳索收放机构与轻量化腿部，可实现1.6米的最大跳跃高度，最多可完成7次连续跳跃。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
