Preprint
Sep 2026
SwingBot: Learning Whole-Body Brachiation for Humanoid Robots
Brachiation enables primates to move across overhead supports when ground paths are blocked, suggesting a complementary locomotion mode for robots operating in cluttered or hazardous environments. Bringing this capability to high-DoF humanoid robots is difficult because the controller must discover a long-horizon relea...
Yu-Jie Xiong, Peng Zhai, Tai-Wei Hou et al.
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