{"id":"https://openalex.org/W4366724849","doi":"https://doi.org/10.1109/lra.2023.3269296","title":"AcroMonk: A Minimalist Underactuated Brachiating Robot","display_name":"AcroMonk: A Minimalist Underactuated Brachiating Robot","publication_year":2023,"publication_date":"2023-04-21","ids":{"openalex":"https://openalex.org/W4366724849","doi":"https://doi.org/10.1109/lra.2023.3269296"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3269296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3269296","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2305.08373","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064422763","display_name":"Mahdi Javadi","orcid":"https://orcid.org/0000-0002-4278-3010"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mahdi Javadi","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4278-3010","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067081068","display_name":"Daniel Harnack","orcid":"https://orcid.org/0000-0001-6255-0321"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Harnack","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6255-0321","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041692818","display_name":"Paula Stocco","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paula Stocco","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036934435","display_name":"Shivesh Kumar","orcid":"https://orcid.org/0000-0002-6254-3882"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shivesh Kumar","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6254-3882","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069566632","display_name":"Shubham Vyas","orcid":"https://orcid.org/0000-0001-8773-8435"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]},{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shubham Vyas","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany","AG Robotik, University of Bremen, Bremen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8773-8435","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"AG Robotik, University of Bremen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011852288","display_name":"Daniel Pizzutilo","orcid":"https://orcid.org/0009-0000-3719-4628"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Pizzutilo","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany"],"raw_orcid":"https://orcid.org/0009-0000-3719-4628","affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016436943","display_name":"Frank Kirchner","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]},{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Kirchner","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany","AG Robotik, University of Bremen, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"AG Robotik, University of Bremen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5064422763"],"corresponding_institution_ids":["https://openalex.org/I33256026"],"apc_list":null,"apc_paid":null,"fwci":2.0227,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.85828994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"6","first_page":"3637","last_page":"3644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8736631870269775},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.63099205493927},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5755746960639954},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5555967688560486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.555526852607727},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5331712365150452},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5286353826522827},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5209823250770569},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5206043720245361},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.49560487270355225},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.457070916891098},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42186418175697327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27500689029693604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18987566232681274}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8736631870269775},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.63099205493927},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5755746960639954},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5555967688560486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.555526852607727},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5331712365150452},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5286353826522827},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5209823250770569},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5206043720245361},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.49560487270355225},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.457070916891098},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42186418175697327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27500689029693604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18987566232681274},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3269296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3269296","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2305.08373","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2305.08373","pdf_url":"https://arxiv.org/pdf/2305.08373","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2305.08373","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2305.08373","pdf_url":"https://arxiv.org/pdf/2305.08373","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1830476316","https://openalex.org/W1941843239","https://openalex.org/W1950914174","https://openalex.org/W1968466152","https://openalex.org/W1970101292","https://openalex.org/W1978299852","https://openalex.org/W2003163723","https://openalex.org/W2010617747","https://openalex.org/W2013232999","https://openalex.org/W2048222901","https://openalex.org/W2099549671","https://openalex.org/W2103145919","https://openalex.org/W2103288652","https://openalex.org/W2103977982","https://openalex.org/W2111920136","https://openalex.org/W2117145719","https://openalex.org/W2119297666","https://openalex.org/W2158782408","https://openalex.org/W2160887373","https://openalex.org/W2163149095","https://openalex.org/W2167322920","https://openalex.org/W2221321873","https://openalex.org/W2592736357","https://openalex.org/W2736601468","https://openalex.org/W2800589588","https://openalex.org/W2891384060","https://openalex.org/W2909423635","https://openalex.org/W2921000986","https://openalex.org/W2972977916","https://openalex.org/W3129253780","https://openalex.org/W3132082252","https://openalex.org/W3216772467","https://openalex.org/W4281717224","https://openalex.org/W4288024878","https://openalex.org/W4390357269","https://openalex.org/W6741002519","https://openalex.org/W6770664673","https://openalex.org/W6804601995","https://openalex.org/W6859609971"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W587013945","https://openalex.org/W3035867307","https://openalex.org/W143055317","https://openalex.org/W2998071126","https://openalex.org/W1989428111","https://openalex.org/W2907262613","https://openalex.org/W4289868286"],"abstract_inverted_index":{"Brachiation":[0],"is":[1,28,108],"a":[2,21,33,68,73,123,140,184],"dynamic,":[3],"coordinated":[4],"swinging":[5],"maneuver":[6],"of":[7,25,51,67,102,155],"body":[8],"and":[9,14,45,76,89,99,120,161,167,176,190],"arms":[10],"used":[11],"by":[12,122,139],"monkeys":[13],"apes":[15],"to":[16,30,86,157,173],"move":[17],"between":[18],"branches.":[19],"As":[20],"unique":[22],"underactuated":[23,186],"mode":[24],"locomotion,":[26],"it":[27,37,85],"interesting":[29],"study":[31],"from":[32,91],"robotics":[34],"perspective":[35],"since":[36],"can":[38,181],"broaden":[39],"the":[40,58,63,103,179],"deployment":[41],"scenarios":[42],"for":[43,188],"humanoids":[44],"animaloids.":[46],"While":[47],"several":[48],"brachiating":[49],"robots":[50],"varying":[52],"complexity":[53],"have":[54,169],"been":[55,170],"proposed":[56],"in":[57,110,153],"past,":[59],"this":[60],"letter":[61],"presents":[62],"simplest":[64],"possible":[65],"prototype":[66],"brachiation":[69,106],"robot,":[70],"using":[71,114],"only":[72],"single":[74],"actuator":[75],"unactuated":[77],"grippers.":[78],"The":[79,105,147,164],"novel":[80],"passive":[81],"gripper":[82],"design":[83,166],"allows":[84],"snap":[87],"on":[88],"release":[90],"monkey":[92],"bars,":[93],"while":[94],"guaranteeing":[95],"well":[96,137],"defined":[97],"start":[98],"end":[100],"poses":[101],"swing.":[104],"behavior":[107],"realized":[109],"three":[111,148],"different":[112],"ways,":[113],"trajectory":[115],"optimization":[116],"via":[117],"direct":[118],"collocation":[119],"stabilization":[121],"model-based":[124],"time-varying":[125],"linear":[126],"quadratic":[127],"regulator":[128],"(TVLQR)":[129],"or":[130],"model-free":[131],"proportional":[132],"derivative":[133],"(PD)":[134],"control,":[135],"as":[136,138,183],"reinforcement":[141],"learning":[142],"(RL)":[143],"based":[144],"control":[145,149],"policy.":[146],"schemes":[150],"are":[151],"compared":[152],"terms":[154],"robustness":[156],"disturbances,":[158],"mass":[159],"uncertainty,":[160],"energy":[162],"consumption.":[163],"system":[165,180],"controllers":[168],"open-sourced.":[171],"Due":[172],"its":[174],"minimal":[175],"open":[177],"design,":[178],"serve":[182],"canonical":[185],"platform":[187],"education":[189],"research.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2023-04-24T00:00:00"}