Robert taught this half guard sweep (though slightly differently to the method in the video) at his seminar and while I’d seen and done it a bit before, I hadn’t really used it much. However I’ve been using it a lot since I’ve learned it and it fits very well with my sweeping game generally. as a guard player, I like to threaten from the half guard, not to play half guard specifically, but to disrupt my opponent’s passing game and threaten his base enough so that I can return to my favoured full-guard game.
The sweep is up until 2 minutes in this video, and shown, coincidentally, by Robert’s former team mate Andre Galvao. (obviously during the Brasa years!) Enjoy!