Abstract
We have already proposed the “rings gymnastic robot” that has free-floating characteristics of gripping point. The purpose of this paper is to acquire performance skill represented by fuzzy rules to realize one of the compulsory requirements, i.e., a backward giant circle from handstand to handstand, in the rings event through the robot. In controlling the performance, it is divided into three basic exercises and one of fuzzy controllers for the basic exercises is selected according to the situation. In order to acquire parameters of the controllers, an evaluation method based on five shbgroups is applied to genetic algorithm. A subgroup has independent evaluation and priority exists among the subgroups. Simulation results show the effectiveness of the performance skill obtained and the evaluation method proposed.
