... and power outputs from the 3D ground reaction forces. These ground reaction forces were collected during spontaneous bipedal locomotion of four untrained white-handed gibbons ( Hylobates lar ) over an instrumented walkway (with an AMTI force plate). Excursions of the COM are relatively large during...

... (the trailing-arm-bend and leg-lift) that may act to limit the energy losses associated with brachiation, hypothesised as being constrained either by conservation of excess mechanical energy (continuous-contact), or by safety(ricochetal). Gibbon locomotion collision energy pendulum Hylobates lar...

... to produce a low-cost but effective system. The solutions to several problems in the design of the system are provided, and the functional characteristics of the system are demonstrated using both an inert pendulum and an actively brachiating gibbon ( Hylobates lar ). * Author for correspondence (e...