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 …

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 …

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 …

Brachiation is a common way for primates to move between treetops. This movement has
the characteristics of adapting to complex, discontinuous environment and low energy …

This article develops a controller for the active space control of underactuated robotic
systems with the ability to adapt to unknown parameters, be robust to unmodeled dynamics …

In this paper, we present an online adaptive robust control framework for underactuated
brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is …

Riccati equation-based control approaches such as linear-quadratic regulator (LQR) and
time-varying LQR (TVLQR) are among the most common methods for stabilizing linear and …

5.2 Comparison of the verified set of initial conditions/ 0 which are driven to the desired set/ f
for the SOS-based and the TVLQR controllers, projection of (a)✓ 1 vs.✓ 2,(b)✓ 1 vs.✓ 2, and …

Dynamic mobile robots gained significant attention in recent years and have demonstrated
robustness in performing agile maneuvers and tackling complex tasks. Examples such as …