Departmental Papers (ESE)


In this paper, we report on a "hybrid" scheme for regulating the swing up behavior of a two degree of freedom brachiating robot. In this controller, a previous "target dynamics" controller and a mechanical energy regulator are combined. The proposed controller guarantees the boundedness of the total energy of the system. Simulations suggest that this hybrid controller achieves much better regulation of the desired swing motion than the target dynamics method by itself.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

September 1999


Copyright 1999 IEEE. Reprinted from Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 1999, pages 549-554.

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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 Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 03 June 2008

This document has been peer reviewed.