In my spring semester of 2022, I took Underactuated Robotics where we were tasked with completing a project at the end of the semester. For my project I worked with my friend John Flynn to study trajectory optimization on a three-linked (one body link, two arm links) system for doing the monkey bars. We studied two different actuation methods and handling swinging between different gap sizes and heights. The details of our work can be seen in the paper linked here. We also have a video presentation here and our slideshow can be seen below as well. The code can be seen in our deepnote here.