A hybrid-system direct-collocation (DIRCOL) trajectory optimization that lets a brachiating "monkey-bar" robot swing up from a dead hang and travel bar to bar.

This project demonstrates a trajectory-planning technique that mimics a monkey-bar robot swinging from bar to bar. Using hybrid-system direct-collocation (DIRCOL) trajectory optimization, the robot swings up from a dead hang to catch the first bar and then continues to subsequent bars.

The DIRCOL technique was tested across different robot mass distributions and bar-separation distances to understand behavior as parameters vary. We also show the importance of a free-final-time setup in the cost function for producing consistent, feasible trajectories.