Mechatronic Design and Control of an Underactuated Brachiation Robot

Brachiation is a form of locomotion special for monkeys and gibbons, swinging from one handhold to other using arms. The thesis aims to address the mechatronic design and optimal locomotion of a brachiation-type robot and the system is designed as an underactuated system with fewer actuated joints than its degrees of freedom. This presentation hovers around the progress of the thesis, including mechatronics integration, state estimation, trajectory optimization and stabilization. Finally, simulation results will be presented and future steps will be introduced.