Juraj Lieskovský, Hijiri Akahane, Jaroslav Bušek, Ikuo Mizuuchi, Tomáš VyhlídalThis paper concerns itself with the optimal control of a single-link brachiation robot, specifically two phases during which the energy of the system is progressively increased to reach branches at a further distance. Two control policies are described. First is a time-optimal policy utilizing impulses of force. The second policy is an approximation of the first, taking into account inaccuracies of the model and actuators with limited torque. Both control policies are validated through simulations and a setup for experimental validation is also described.