Departmental Papers (ESE)


We report on our preliminary studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a "target dynamical system". Numerical simulations indicate that the resulting controller solves a number of brachiating problems that we term the "ladder", "swing up" and "rope" problems. Preliminary analysis provides some explanation for this success. We discuss a number of formal questions whose answers will be required to gain a full understanding of the strengths and weaknesses of this approach.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

April 1997


Copyright 1997 IEEE. Reprinted from Proceedings of the IEEE Conference on Robotics and Automation, 1997., Volume 3, pages 2050-2056.

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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: 01 July 2008

This document has been peer reviewed.