Dynamic modeling of a gymnast on a high bar-computer simulation and construction of a gymnast robot

摘要

Dynamic modelings of a gymnast on a high bar are presented. Three types of models are developed in the paper. The first one is a single-link pendulum robot with an additional mass able to slide up and down on a straight path along the link. It can perform a giant swing. This model is developed to make a study about the mechanism of a giant swing and increasing swing amplitude. The second is the three-link model consisting of arms, trunk and legs. It can perform a skip, a giant swing and other stunts which require bent knees. The third is four-link model with bent knees. In this model the coordinates of the position of the body in sagittal plane are added so that it can perform aerial stunts and landing. For the three models computer simulations show that the control strategy to realize the high bar stunts depends mainly on the control of the position of the center of the gravity of the whole body. Except for the four-link model, physical models are constructed. The three-link gymnast robot can perform sequential stunts by the same control strategy to that of the computer simulations.