あん馬旋回運動の単純化モデル

抄録

The dynamics of a gymnastic technique on the pommel horse, called the double-leg circle, was modeled with drastic simplification. The trajectory of the circle that has a constant height of the foot and zero torques of the hand and shoulder joints was calculated, and was confirmed to be realized in a forward-dynamics simulation with a controller. Moreover, it was shown how the trajectory depends on physical parameters such as body height and weight.