German Research Center for Artificial Intelligence | RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation @dfkivideo | Uploaded 7 months ago | Updated 18 hours ago
Authors: Shourie S. Grama, Mahdi Javadi, Shivesh Kumar, Hossein Zamani Boroujeni and Frank Kirchner
Abstract:
This paper presents the design, analysis, and performance evaluation of RicMonk, a novel three-link brachiation robot equipped with passive hook-shaped grippers. Brachiation, an agile and energy-efficient mode of locomotion observed in primates, has inspired the development of RicMonk to explore versatile locomotion and maneuvers on ladder-like structures. The robot's anatomical resemblance to gibbons and the integration of a tail mechanism for energy injection contribute to its unique capabilities. The paper discusses the use of the Direct Collocation methodology for optimizing trajectories for the robot's dynamic behaviors and stabilization of these trajectories using a Time-varying Linear Quadratic Regulator. With RicMonk we demonstrate bidirectional brachiation, and provide comparative analysis with its predecessor, AcroMonk - a two-link brachiation robot, to demonstrate that the presence of a passive tail helps improve energy efficiency. The system design, controllers, and software implementation are publicly available on GitHub.
More information:
Github
github.com/dfki-ric-underactuated-lab/ricmonk
Projects
M-RoCK: https://robotik.dfki-bremen.de/en/research/projects/m-rock/
VeryHuman: https://robotik.dfki-bremen.de/en/research/projects/veryhuman/
Yardstick Robotics: rheinmetall.com/zh/job/yardstick_robotics_gmbh__m_f_d_/348619
Funding:
This work has been supported by the M-RoCK (FKZ 01IW21002) and VeryHuman (FKZ 01IW20004) projects funded by the German Aerospace Center (DLR) with federal funds from the Federal Ministry of Education and Research (BMBF) and is additionally supported with project funds from the federal state of Bremen for setting up the Underactuated Robotics Lab (201-342-04-2/2021-4-1) and Yardstick Robotics GmbH.
Authors: Shourie S. Grama, Mahdi Javadi, Shivesh Kumar, Hossein Zamani Boroujeni and Frank Kirchner
Abstract:
This paper presents the design, analysis, and performance evaluation of RicMonk, a novel three-link brachiation robot equipped with passive hook-shaped grippers. Brachiation, an agile and energy-efficient mode of locomotion observed in primates, has inspired the development of RicMonk to explore versatile locomotion and maneuvers on ladder-like structures. The robot's anatomical resemblance to gibbons and the integration of a tail mechanism for energy injection contribute to its unique capabilities. The paper discusses the use of the Direct Collocation methodology for optimizing trajectories for the robot's dynamic behaviors and stabilization of these trajectories using a Time-varying Linear Quadratic Regulator. With RicMonk we demonstrate bidirectional brachiation, and provide comparative analysis with its predecessor, AcroMonk - a two-link brachiation robot, to demonstrate that the presence of a passive tail helps improve energy efficiency. The system design, controllers, and software implementation are publicly available on GitHub.
More information:
Github
github.com/dfki-ric-underactuated-lab/ricmonk
Projects
M-RoCK: https://robotik.dfki-bremen.de/en/research/projects/m-rock/
VeryHuman: https://robotik.dfki-bremen.de/en/research/projects/veryhuman/
Yardstick Robotics: rheinmetall.com/zh/job/yardstick_robotics_gmbh__m_f_d_/348619
Funding:
This work has been supported by the M-RoCK (FKZ 01IW21002) and VeryHuman (FKZ 01IW20004) projects funded by the German Aerospace Center (DLR) with federal funds from the Federal Ministry of Education and Research (BMBF) and is additionally supported with project funds from the federal state of Bremen for setting up the Underactuated Robotics Lab (201-342-04-2/2021-4-1) and Yardstick Robotics GmbH.
