5 week project to design, build, and test a brachiating robot over a monkey-bar based obstacle course. Three 3-fingered grippers allow the robot to grasp different sized bars. During a bar grab maneuver, the rack and pinion based extensible center arm supports the entire weight of the robot while raising and lowering so that the outer arms can rotate into position off the bar, under the bar, and forward to grasp the next bar. Custom 3D printed parts with hobby servomotors, skateboard bearings, and a Raspberry PiZero or Pi4 board running custom Python code. Teleoperated using a custom webserver with autonomous operation using LIDAR, camera, and contact switches to navigate the course.
Kat Allen, Ilan Feldberg, Alanna Levitt , David Gelfand