Sang-Ho Hyon, N. Yokoyama, Takashi Emura
Journal name not available for this finding
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.