著者

中脇 ダレル 周 桑完 宮崎 文夫

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.18, no.1, pp.59-65, 2000-01-15 (Released:2010-08-25)

参考文献数

13

被引用文献数

7 10

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The kip is a fundamental gymnastic movement performed on a variety of gymnastic apparatuses at all levels of competition. We analyze the kip with a multi-model approach consisting of a pendulum and 3-link model. Our simulations have shown that a variable length pendulum model is sufficient for modeling the dynamics of an expert gymnast's center-of-mass without considering the complex parameters of the 3-link model. The optimized pendulum model can generate kip pattern variations which yield a midpoint target region of success. We then evaluate these kip patterns based on the center-of-mass and 3-link system's total energy.Experimental data of both success and failure performances show that the novice raises his center-of-mass too high during the forward swing thus resulting in failure. Analysis of midpoint kip pattern variations also indicate that raising the center-of-mass at the end of the forward swing is a cause of failure.