Stable open-loop brachiation on a vertical wall

  title={Stable open-loop brachiation on a vertical wall},
  author={Nelson Rosa and Adam Barber and Robert D. Gregg and Kevin M. Lynch},
  journal={2012 IEEE International Conference on Robotics and Automation},
This paper presents a hybrid mechanical model for the Gibbot, a robot that dynamically locomotes along a vertical wall in a manner analogous to gibbons swinging between branches in the forest canopy. We focus on one particular gait, continuous-contact brachiation, which always has one handhold in contact with the wall. We use zero-cost, unstable solutions corresponding to horizontal brachiation, originally found by Gomes and Ruina, as templates to generate open-loop stable gaits in arbitrary… CONTINUE READING


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