Control for a rings gymnastic robot using fuzzy reasoning and genetic algorithms

摘要

The rings event is part of men's apparatus gymnastics. The ring exercises have free-floating characteristics of the gripping point. Here, we propose a novel "rings gymnastic robot" aimed at an application in gymnastic coaching. The purpose of this article is to develop fuzzy control rules to realize performances on the rings by considering torque minimization by genetic algorithms (GAs), because these rules should be useful in coaching. The effectiveness of the controllers obtained is illustrated by a simulation.