AcroMonk
A minimalist underactuated brachiating robot that swings along a horizontal ladder bar using one quasi-direct drive actuator and passive grippers.
- Other
- Open source
- Works with AI
- 3D printable
Suggested by Robotheca, created by @dfki-ric-underactuated-lab (opens in a new tab), from github.com/dfki-ric-underactuated-lab/acromonk (opens in a new tab). Pinned to commit ea0b53d (opens in a new tab).
- Hardware license
- BSD-3-Clause (opens in a new tab)
- Software license
- BSD-3-Clause (opens in a new tab)
- Commercial use
- Allowed
Photo and 3D model
3D preview converted from github.com/dfki-ric-underactuated-lab/acromonk at ea0b53d, under BSD-3-Clause. View the original files from GitHub (4.6 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Brachiates robustly over a horizontally laid ladder bar, performing more than two brachiation maneuvers with passive grippers.
- Uses one quasi-direct drive actuator and unactuated grippers as the simplest underactuated brachiator design.
- Provides different control methods for trajectory stabilization, studied on a simulator and on the real system.
- Includes URDF models, simulation and controllers for the robot.
Works with AI
Found by Robotheca in the project's files at commit ea0b53d, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
Uses reinforcement learning
In the project files: software/python/real_system/BF_Reinforcement_Learning
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The guide appears here as you scroll.
Guide by @dfki-ric-underactuated-lab (README.md), under BSD-3-Clause.
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- One quasi-direct drive (QDD) brushless actuator.
- Passive grippers.
- Onboard Lithium Polymer battery.
- Raspberry Pi used for real-time execution of the software.
Connections
- The documents mention a wiring diagram image in the hardware folder but do not describe the connections in text.
