Back Handspring Control of a Four-Link Gymnastic Robot

Sang-Ho Hyon; Naoto Yokoyama; Takashi Emura

doi:10.11499/sicep.2004.0_59_4

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_59_4

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Back Handspring Control of a Four-Link Gymnastic Robot

*Sang-Ho Hyon, Naoto Yokoyama, Takashi Emura

Author information

Keywords: Gymnastic robot, Back handspring, Jumping

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 59

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Abstract

This paper reports on a gymnastic robot, developed for various floor exercises such as jumping, somersault, or back handspring. A feedback controller for back handspring are presented and evaluated via simulations and experiments. The use of global physical quantities such as center of mass, or angular momentum allows even simple target dynamics to generate complex gymnastic motions of multi-body system.

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