Abstract
We examine whether gymnastic maneuvers on the high bar can be achieved by the control of inter-joint corrdinations described as constraints in a configuration space. Two gymnastic skills on the high bar, the kip moiton and Weiler motion, were modeled using a three-link model. The inter-joint coordinations were modeled as several linear functions of joint angles. The model was controlled by a feedback controller to track the desired coordination, which was sequentially switched among the several functions depending on the stage of a motion. Through numerical simulations, it was shown that the kip and Weiler motions on the high bar can be achieved by the control of the inter-joint coordinations.
