Acrobots

The robot must learn to oscillate back and forth, increasing its arc until it has enough speed to reach the top.

Advanced prosthetic limbs must often react to the body's natural momentum without having a motor at every possible point of movement. Acrobots

This joint is unpowered (passive). It hangs freely from a fixed pivot point, much like a gymnast's hands on a bar. The robot must learn to oscillate back and

This joint is powered (active). By moving this single joint, the robot must generate enough momentum to swing its entire body upward. Acrobots