AcroMonk

AcroMonk is the simplest possible underactuated brachiator with passive grippers that can brachiate robustly over a horizontally laid ladder bar. This is the first brachiator with unactuated grippers that can perform more than two brachiation maneuvers. More info to the open source project: https://github.com/dfki-ric-underactuated-lab/acromonk