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SwingBot: Learning Whole-Body Brachiation for Humanoid Robots

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

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 release-swing-capture sequence, coordinate alternating contacts with whole-body momentum, and act without reliable measurements of segment-relative displacement or hook-contact state. We present SwingBot, a learning framework for continuous humanoid brachiation with passive wrist hook

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