Departmental Papers (ESE)


We report on our recent empirical success in the study of a two-link brachiating robot. The "target dynamics" controller developed in our previous work (1997) is implemented on a physical system in our laboratory. The swing locomotion and swing-up behavior of the robot as well as continuous locomotion have been successfully attained. The experimental results illustrate the effectiveness of our control strategy.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

May 1998


Copyright 1998 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 1998, pages 787-792.

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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.