Abstract
In this report, we analyze the twist motion in salto backward motion performed by a horizontal bar exercise robot. Although there are many robots capable of acrobatic motion in the air, conventionally at least two active joints are used to generate the twist motion. However, in our previous experiment, we have reported that twist motion is caused by action of only one joint. Thus, we construct a 3D model with consideration of asymmetry mass distribution and demonstrate the twist motion by simulation. We also analyze twist angular velocity in view point of controllability of 3D posture by one actuator.
