The following applet shows five of the controllers found via simulated annealing. In each case, lambda1 was equal to 1. For the gripping and quiescent states, versions for lambda2 = 1 and 0.1 are shown. For the hanging state, lambda2 = 0 was the only value used. As an offering instead, the user can run this controller either with gravity (for which it was designed) or without (for which it fails spectacularly).
To use this applet, simply select the controller you wish to see and step through it with "Step that Monkey!". The coloured links are the tail as per the last applet, the black links are the desired final state. Note that the proper length of the controller is 2.0 seconds, and the time step should be 0.05 seconds. Results outside of these parameters are not guaranteed. The simulation can be reset with the "Reset Simulation" button. The "Run that Monkey!" button should show the whole controller in action, but is having refresh problems on some computers. Feel free to try it; your mileage will vary.
Please, please, please check out the hanging controller. It is really cool how it takes about three quarters of the time to get the tail setup, and then whips it in position right at the end. You will be impressed.
The code for this applet can be found below, as well as MonkeyCanvas, which draws the output, and the Symantec Visual Cafe project file.