Abstract: Control strategy for the ricochetal brachiate control of two-link brachiation robot is presented.Based on the theory of the conservation of angular momentum,the gesture and rotation of the system are modified to fit for the flight target.Based on the analytical method of inverse kinematics,the initial state of system is achieved,and the brachiation control strategy based on hierarchical sliding mode control is presented.Simulation tests suggest that the proposed strategy achieves the desired ricochetal maneuver.