Back handspring control of a four-link gymnastic robot
Sang-Ho Hyon, N. Yokoyama, Takashi Emura
2004
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Key Takeaway Key Takeaway: The gymnastic robot developed in this paper can perform back handsprings using global physical quantities like center of mass and angular momentum, enabling complex multi-body system gymnastic motions.
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.
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