Brachiation is a type of locomotion achieved by swinging from place to place, employed by Monkeys (mostly Gibbons). During brachiation, if the Gibbon encounters a distant branch such that it is expected to have a dynamic free flight phase in its motion, this rapid motion mode is called 'Fast Brachiation' or 'Ricochetal Brachiation'. Many studies have been conducted on brachiation robots to enable surveillance capabilities in agricultural fields, animal mimicking, deep forest searches, etc. This thesis addresses the design and implementation of control on a simplified underactuated 3-link robot with passive gripper capable of energy-efficient brachiation. A tail in the robot helps it achieve energy-efficient swings. The robot comprises three links (two arms and one passive tail) and two actuators with unactuated grippers. The robot performs brachiation maneuvers through a horizontal ladder with equally spaced support bars. Given that the robot is underactuated and that its motion is discontinuous poses a challenge that we overcome. As a part of this master's thesis, the optimal design and mechatronic integration of the robot, generation of optimal trajectory, a model-free or model-based trajectory stabilization, and evaluation of the influence of the tail on the performance is addressed. The contribution to the community of this master's thesis is to achieve brachiation in both forward and backward directions using passive grippers on a 3-link underactuated robot.