Study of Acrobatics of 2-link Acrobat Robot

The Initial and Final Conditions for Kovacs

Abstract

In this paper, a realization of acrobatics of a 2-link acrobat robot is discussed. Kovacs is chosen as an example of acrobatics of the horizontal bar performance. Our aerial posture control method that has been proposed in the previous study enables us to focus on the initial and final posture conditions of the acrobatics. Based on the equations of motion and the law of conservation of angular momentum, a way to derive the optimum initial and final posture conditions is developed. A simulation result demonstrates the validity of the proposed method.