The Stanford Climbing Wall has been modelled in Arachi DE. Simulation uses PD control to generate a foot trajectory.

Below are some videos showing a RiSE hip executing a trajectory and a RiSE hip climbing up the Stanford Climbing Wall.

• traj_front.mov, traj_side.mov, traj_both.mov: trajectory in free space
• climb_front.mov, climb_side.mov, climb_both.mov: trajectory climbing up a wall

Initial TestTrack? Simulation Results:

• PCM_7_8_04_short.ppt: Power Point Slides
• track.mov: Quicktime Movie