あん馬旋回の運動制御モデルに関する検討

抄録

A motor control model is developed for a double-leg circle on a pommel horse, which takes into account the switching of support between two pommels and three-dimensional rotation of the whole body of a gymnast. The whole body is modeled as a single rigid segment, and a mechanism for changing the position of the shoulder joint relative to the body segment is incorporated. The control objective is represented by a combination of physically interpretable conditions, and a control model is proposed to achieve this objective. Simulation results are presented to show that the model can reproduce motion qualitatively similar to actual circles.