Study and Experimental Verification of a Dynamical Model for the Jumping Performance of Parallel Wire-driven Leg

Abstract

Parallel wire-driven legs have been proposed as a leg structure that enables both high and continuous jumping. On the other hand, the jumping ability of multiple leg structures including parallel wire-driven legs has not been compared based on dynamic models. In this study, we will develop dynamic models of parallel wire-driven legs and other representative leg structures, and compare their jumping abilities under the same conditions. In addition, the errors between the model and the actual robot are discussed based on the data from the jumping experiment of the parallel wire-driven leg robot RAMIEL.