Title :
Back handspring control of a four-link gymnastic robot
Author :
Hyon, S. ; Yokoyama, N. ; Emura, T.
Author_Institution :
Tohoku Univ., Aobaku, Japan
Abstract :
This paper reports on a gymnastic robot, developed for various floor exercises such as jumping, somersault, or back handspring. A feedback controller for back handspring are presented and evaluated via simulations and experiments. The use of global physical quantities such as center of mass, or angular momentum allows even simple target dynamics to generate complex gymnastic motions of multi-body system.
Keywords :
feedback; mobile robots; motion control; robot dynamics; sport; angular momentum; back handspring control; center of mass; complex gymnastic motion; feedback controller; floor exercises; four-link gymnastic robot; global physical quantities; model matching; multibody system; target dynamics;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
