Departmental Papers (ESE)


We have previously developed a brachiation controller that allows a two degree of freedom robot to swing from handhold to handhold on a horizontal ladder with evenly space rungs as well as swing up from a suspended posture using a "target dynamics" controller. In this paper, we extend this class of algorithms to handle the much more natural problem of locomotion over irregularly spaced handholds. Numerical simulations and laboratory experiments illustrate the effectiveness of this generalization.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

May 1999


Copyright 1999 IEEE. Reprinted from Proceedings of the 1990 IEEE International Conference on Robotics & Automation, 1999, Volume 4, pages 2717 - 2722.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the School of Engineering at the University of Pennsylvania.



Date Posted: 10 April 2008

This document has been peer reviewed.