Abstract
We report on the model-based development of a monkey robot that is capable of performing continuous brachiation locomotion on swingable rod, as the intermediate step toward studying brachiation on the soft rope or on horizontal ropes with both ends fixed. The work is different from other previous works where the model or the robot swings on fixed bars. The model, which is composed of two rigid links, was inspired by the dynamic motion of primates. The model further served as the design guideline for a robot that has five degree of freedoms: two on each arm for rod changing and one on the waist to initiate a swing motion. The model was quantitatively formulated, and its dynamic behavior was analyzed in simulation. Further, a two-stage controller was developed within the simulation environment, where the first stage used the natural dynamics of a two-link pendulum-like model, and the second stage used the angular velocity feedback to regulate the waist motion. Finally, the robot was empirically built and evaluated. The experimental results confirm that the robot can perform model-like swing behavior and continuous brachiation locomotion on rods.
Highlights
While most legged animals move on the ground by using their legs when walking [1], running [2,3], leaping [4], or crawling [5], a special subset of legged animals includes primates who have a different kind of locomotion mechanism owing to the characteristics of the habitat
The reduced-order two-link model described in Section 2 is designed to simulate and predict the dynamic behavior of the MonkeyBot described in Section 3, which helps to ease the process of developing the control law and investigating the effect of the parameters of the model/robot
We report on the model-based development of a monkey robot that is capable of performing continuous brachiation locomotion on swingable rods
Summary
While most legged animals move on the ground by using their legs when walking [1], running [2,3], leaping [4], or crawling [5], a special subset of legged animals includes primates who have a different kind of locomotion mechanism owing to the characteristics of the habitat. The mechanical property of the rope/rod changes the overall system dynamics, and the passive rope/rod enlarges the swing amplitude of the robot as well as increases the possibility of catching Following this setup, the two-step control strategy is developed, so the system can initiate the swing motion from rest as well as maintain the swing with a large amplitude. We focus on how to design a simple robot and to simultaneously find a corresponding simple model (i.e., template vs anchor [37]), so the complex brachiating behavior of the monkey can be abstractly reconstructed.
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