Next Article in Journal
Synthetic Rock Analogue for Permeability Studies of Rock Salt with Mudstone
Next Article in Special Issue
A Precise Positioning Method for a Puncture Robot Based on a PSO-Optimized BP Neural Network Algorithm
Previous Article in Journal
Study of the Direct Metal Deposition of AA2024 by ElectroSpark for Coating and Reparation Scopes
Previous Article in Special Issue
Data-Foraging-Oriented Reconnaissance Based on Bio-Inspired Indirect Communication for Aerial Vehicles
Open AccessArticle

Model-Based Design and Evaluation of a Brachiating Monkey Robot with an Active Waist

Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan
Author to whom correspondence should be addressed.
A.K.-Y.L. and Y.-H.Y. contributed equally to this work.
Appl. Sci. 2017, 7(9), 947;
Received: 4 July 2017 / Revised: 19 August 2017 / Accepted: 7 September 2017 / Published: 14 September 2017
(This article belongs to the Special Issue Bio-Inspired Robotics)
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. View Full-Text
Keywords: brachiation; robot; dynamics; swingable rod; rope brachiation; robot; dynamics; swingable rod; rope
Show Figures

Graphical abstract

MDPI and ACS Style

Lo, A.K.-Y.; Yang, Y.-H.; Lin, T.-C.; Chu, C.-W.; Lin, P.-C. Model-Based Design and Evaluation of a Brachiating Monkey Robot with an Active Waist. Appl. Sci. 2017, 7, 947.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Back to TopTop