Non-collocated control of a potential climbing robot. (Really, an "Acrobot"). There is an actuator at the hip, but not at the ankle. I've used non-collocated partial feedback linearization, and commanded the leg to the vertical position (ankle angle = 0 in my coords).

The video (at 1/4 speed):

IC -> Middle point -> Desired (but it continues to fall from there...)
-> ->

The hip torques:

The wall reaction forces (if only I could limit the peaks...):