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RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation
Description
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 agile and energy-efficient mode of locomotion observed in primates, has inspired the development of RicMonk to explore versatile locomotion and maneuvers on ladder-like structures. The robot's anatomical resemblance to gibbons and the integration of a tail mechanism for energy injection contribute to its unique capabilit