Robust Brachiation on a Life-Sized Dual-Arm Robot Using Waypoint-Guided Reinforcement Learning

arXiv:2608.17320v1 Announce Type: new Abstract: Brachiation is a form of locomotion in which primates move primarily using their arms, enabling traversal in environments without footholds. However, this motion requires highly coordinated whole-body movement and precise timing control for bar grasping and release. As a result, achieving robust behavior on life-sized robotic platforms remains challenging. In this study, we present a reinforcement learning-based method to realize brachiation on a l...