The Proceedings of the Symposium on sports and human dynamics
Online ISSN : 2432-9509
2017
Session ID : C-25
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A Two-dimensional Underactuated Model of Double-leg Circle on Pommel Horse
Taiga YAMASAKIXin XINShinsaku IZUMIKazuie NISHIWAKIYoshihiko NAKAMURADaisuke GOTOH
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Abstract

A gymnastic technique on the pommel horse, called the double-leg circle, was modeled in the horizontal plane by using a rigid-body segment and variable-length arms. The model has three degrees of freedom, and two control inputs in the single support phase or three control inputs in the double support phase. The inter-joint coordination during the circle was modeled as a virtual constraint with respect to the center-of-mass position and the body orientation, and controlled by the feedback linearization. The result showed that the model has a periodic solution partially similar to the horizontal motion of the circle performed by gymnasts.

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© 2017 The Japan Society of Mechanical Engineers
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