Study of ape-like robot that moves by using the tail

Abstract

There are a great variety of monkeys in the zoos and can observe special movement. There is the thing which does not last that I have a tail in the monkey, and the monkey having a tail treats a tail having a long it than a body like a hand and I catch a rope and move from the edge to the edge and make a very interesting move. In this study, I assume a monkey having such a tail a model and make a robot model by a physics simulator and reproduce a state to cross the rope like a real monkey. Furthermore, using genetic algorithm, I change speed or an angle to move of the hand and plan the optimization of the model.