Control of gymnast on a high bar
- 9 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1424-1429 vol.3
- https://doi.org/10.1109/iros.1991.174707
Abstract
Fundamental problems in controlling a gymnast robot to do stunts on a high bar are discussed. To increase swing amplitude there are two methods. One is to pull up and pull down the mass center of the whole body. The other is to oscillate swing by sinusoidal joint movement at the eigenfrequency of the pendulum. But oscillation in constant frequency cannot make the gymnast robot go up beyond horizontal position and do a giant swing. A new oscillating method by changing oscillating frequency according to swing amplitude without sudden change of joint angles is proposed. This method is compared with the first method by simulation and by experiments. Control algorithms to maintain a handstand state on a high bar after some giant swing rotations are also developed by simulation.<>Keywords
This publication has 2 references indexed in Scilit:
- Dynamic modeling of a gymnast on a high bar-computer simulation and construction of a gymnast robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Legged Robots That BalanceIEEE Expert, 1986