Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by
monkeys and apes to move between branches. As a unique underactuated mode of …

Executing safe brachiation maneuvers with a cable-suspended underactuated robot is a
challenging problem due to the complications induced by the cable dynamics. We present …

A novel brachiating robot design is presented for the purpose of traversing elevated wire
networks. The robot is capable of moving along a single wire and between parallel wires …

In this paper, the experimental swing-up of a spherical pendulum mounted on a
collaborative robot is presented. The complete mechanical system consists of nine degrees …

Dexterous robots have great potential to execute industrial tasks that are not suited to
humans. In this work, a novel robotic mobility platform is proposed for use in the chemical …

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 …

Many different control schemes have been proposed in the technical literature to control the
special class of underactuated systems, the-so-called brachiation robots. However, most of …

Control theory is an important cornerstone of the robotics field and is considered a
fundamental subject in an undergraduate and postgraduate robotics curriculum …

Aiming to mimic the brachiation locomotion of primates, we establish a brachiation robot
model capable of swinging between different bars. The robot's design is based on a four-link …

Control of wire-borne underactuated brachiating robots requires a robust feedback control
design that can deal with dynamic uncertainties, actuator constraints and unmeasurable …