Giant Swing Research Articles

Giant Swing Motion Control of 3-link Gymnastic Robot with Friction around an Underactuated Joint

This paper discusses a control method which can stabilize the giant swing motions of 3-link horizontal bar gymnastic robot. A method called Multiple-prediction Delayed Feedback Control(MDFC) proposed by the authors, which has been shown to be effective in control such chaos system, is extended in this paper to experimental gymnastic robot system, taking in account the effect of friction around the link joint. The dynamic of underactuated systems like gymnastic robot shows significant differences in cases of with friction and without friction. However, MDFC considers only the ideal situation without friction. Therefore, a stabilization control method consisting of three kind of control inputs which the one is MDFC for guaranteeing asymptotic stability and the others are used for friction compensation is derived. Numerical simulations and experimental results prove its effectiveness of our proposed method.

Stabilization Control for Giant Swing Motions of 3-link Horizontal Bar Gymnastic Robot Using Multiple-prediction Delayed Feedback Control with a Periodic Gain

This paper studies the behavior of the giant swing motions of a 3-link horizontal bar gymnastic robot using the delayed feedback control (DFC). A modified DFC method called Multiple-prediction Delayed Feedback Control (MDFC), which controls the chaotic system via periodic gain is proposed in this paper. First, plural Poincare maps are defined to regard the target continuous-time system as a T-periodic discrete-time system, so that the system stability can be evaluated based on the theory of monodromy matrix. Second, a way to calculate analytically the error transfer matrix and the input matrix which are necessary for discretization is presented. Finally, simulation results show that our proposed method is effective in the control of the giant swing motions.

2P1-F22 強化学習を用いた大車輪運動の報酬と運動の解明

2P1-F22 強化学習を用いた大車輪運動の報酬と運動の解明

遅延フィードバック制御を用いた2リンク鉄棒ロボットの大車輪運動の実現(機械力学,計測,自動制御)

In this paper, a method of the giant swing motion of a 2-DOF link horizontal bar mechanism using Delayed Feedback Control is discussed. Firstly, a kind of Poincare section to regard the system as a discrete-time system for evaluating its stability is defined. Meanwhile, a way to calculate numerically the transitional error matrix and the input control matrix is shown. Secondly, we investigate how we can obtain the gain of feedback on the basis of analysis about the stabilization of system under the control of delayed feedback. Finally, a simulation result to show the effectiveness of this method is represented.

4C13 Realization of Giant Swing Motions of a two-link horizontal bar gymnastic robot Using Delayed Feedback Control

This paper studies the behavior of the giant swing motions of a two-link horizontal bar gymnastic robot using chaos control. Until now, the generalized method of control on such systems with non-holonomic constraints has still not been established. The delayed feedback control (DFC) of chaos, proposed by Pyragas, is well known as an effective method for stabilizing unstable periodic orbits embedded in chaotic attractors. However, the DFC has a limitation such that it can not stabilize any systems with an odd number of real eigenvalues greater than unity. The stability analysis of continuous systems like gymnastic robot by a modified DFC method called Prediction-based DFC (PDFC) is concentrated in this paper. Firstly, a Poincare section is defined to regard the target system as a discrete-time system so that the system stability can be evaluated easierly. Meanwhile, a way to calculate analytically the error transfer matrix and the input matrix which are necessary for discretization is proposed. Secondly, the stability of the gymnastic robot system controlled by the PDFC is discussed. Finally, some simulation results show that it is effective in the control of the giant swing motions with the proposed method.

Applying of kinematics analysis for the young gymnasts in training the technique of the giant swing backward on bar

Applying of kinematics analysis for the young gymnasts in training the technique of the giant swing backward on bar

체조 철봉 콜만 기술동작의 훈련프로그램 적용 및 향상도평가

본 연구는 체조 철봉종목의 국가대표선수 2명을 대상으로 고난도 공중 비행 기술인 콜만 동작의 완성도를 높이기 위한 기술훈련 프로그램을 개발하여 8주간 적용하고 향상도를 3차원 영상분석을 통해 제시함으로써 경기력 향상에 도움을 주고자 하였다. 훈련 프로그램은 휘돌기 손 놓기, twist, 봉잡기로 구성하여 실시하였으며, 그 결과 다음과 같은 결론을 얻었다. 동작이 처음 시작되는 크게 휘돌기의 물구나무 경과 시 신체를 지면과 수직에 가깝도록 치켜세운 다음 수직하강에 가깝게 신체를 다운시켜서 깊은 추기기 운동을 수행케 하고, 고관절과 견관절의 굴신 폭을 크게 하는 추기기보다는 우선적으로 동체 회전을 중시하면서 신체중심을 충분히 끌어 올리는 봉 이탈, 그리고 비행 시 신체 각 관절의 상대각을 작게 하도록 주문하여 연습케 하였다. 그 결과 철봉의 탄성을 크게 유발하구 신체의 후방 진행속도를 증가시켜서 휘돌기의 구심력을 증가시키면서 높은 위치에서 봉을 이탈하였으며, 비행 시 신체를 빠르게 지면과 수직이 되도록 세울 수 있게 되어 여유로운 공중회전과 비틀기 운동을 수행할 수 있었다. 또한 상승할 때 손 놓는 타이밍을 맞추는데 특별히 신경 쓰지 않더라도 비행방향의 조절을 용이하게 할 수 있어서 봉잡기 시 철봉과 적정한 거리를 유지함과 동시에 충분한 동체의 회전과 비틀기 거리를 확보할 수 있었다. This study develops a technique training program to enhance the completion of Kolman, the high air flight technique, and applies it to two national athletes of the horizontal bar, one of the gymnastic events, for eight weeks. After that, their improvement was measured through 3D motion analysis to help them elevate their performance. The training program includes swing, hand release, twist, and bar hold, and its implementation produced the results stated below. They were made to practice the motion in the following way. After the hand-standing of giant swing which initiates the motion, they lift their body upward a little bit more. Next, they take their body down almost like a vertical descent and make a deep tap swing. Instead of doing the tap swing which widens the flection of hip and shoulder joints, while body revolution is more emphasized in particular, they release the bar as raising the centroid of their body sufficiently. During the flight, they try to narrow every joint in their body. As a result, the bar's elasticity becomes greatly increased, and since the backing rate of their body gets higher, the centripetal force of the swing is improved that they can release the bar in the higher position. In addition, because they can erect their body faster during the flight, they can perform comfortable twist and revolution in the air. They can also adjust the direction of the flight easily without too much concern for the proper timing of hand release as they rise. Thereby, they can not only maintain adequate distance from the bar for the bar hold but also ensure enough distance for body revolution and twist.

A11 遅延フィードバック制御を用いた2リンク鉄棒ロボットの大車輪運動の実現(OS3 ロボットのダイナミクスと制御1)

In this paper we discuss a method of the giant swing motion of a 2-DOF link horizontal bar mechanism using Delayed Feedback Control. Firstly we define a kind of Poincare section to regard the system as a discrete-time system for evaluating its stability. On the other hand, a way to calculate numerically the transitional error matrix is shown. Secondly, we investigate how we can obtain the gain of feedback on the basis of analysis about the stabilization of system under the control of delayed feedback. Finally, we present a simulation result to show the effectiveness of this method.

Counterpoint: Spectral properties of the surface emg do not provide information about motor unit recruitment and muscle fiber type

The surface electromyogram (EMG) comprises the sum of the electrical contributions made by the active motor units to the interference signal detected by electrodes placed on the skin overlying the muscle. Because it provides a global measure of motor unit activity, this signal is a valuable tool for

3605 強化学習によるスポーツロボットの大車輪運動に関する研究(G15-1 ロボティクス・メカトロニクス(1) 歩行ロボット・アクロボット,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

In this paper, we attempt to make a compact humanoid robot acquire the giant swing motion without any robotic models by using reinforcement learning; in particular, this paper applies Q-learning algorithm. The reinforcement learning method is said to be not suitable for dynamic tasks because Markov property is not necessarily guaranteed. However, we tried to avoid this problem by considering angular velocity in state definition and averaging Q-value at every step to reduce the dynamic noise. The ODE-based simulator is also used to find the best reward for acquiring the giant motion. Further, learning process is divided into two stages, and finally they enable attractive giant swing motion like gymnast.

Effect of additional loads on torques during giant swing on the high bar

In Artistic Gymnastics the backward giant circle on the high bar is used to generate the angular momentum that the gymnast needs to perform certain release-regrasp and dismount skills. Due to muscl...

A giant swing robot using a neural oscillator

A neural oscillator model is applied to a giant swing control of an underactuated double pendulum. The oscillator receives the angle signal of the upper link and provides a relative angle of the lower link. The oscillator tunes itself to the natural dynamics of the pendulum increasing the swing amplitude, and finally the pendulum system enters the phase of giant swing. A most remarkable feature is that the transition from simple swing to giant swing can be made without changing the values of the parameters of the neural oscillator.

A Realization Method of Giant-swing Motion of 3-DOF Link Mechanism

This paper discusses a control method of the giant swing motion of a 3-DOF link horizontal bar mechanism that is controlled by a discrete-time controller. The stability of a periodic motion that is controlled by a discrete-time controller is firstly defined. Secondly, in order to increase stability of the giant swing motion of a 3 DOF link horizontal bar mechanism, a control technique that is named the discrete-time variable gain configuration control is proposed. Moreover, an acceleration control method that accelerates swing motion of the mechanism to a certain free giant swing motion is derived. Experimental result proves an effectiveness of our control methods.

Giant-swing Motions and Control of a 3-DOF Link Mechanism

This paper investigates the giant swing motion and control of a 3-DOF link horizontal bar mechanism. Five types of free gaint swing motion are derived for an experimental setup by the shooting method. To evaluate the stability of the giant swing motion, a new criterion is proposed. It is shown that the continuous-time configuration based control can stabilize some types of giant swing motion. Sets of six feedback gains in the continuous-time configuration based control are successfully determined with Genetic Algorithm for various giant swing motions.

평행봉 뒤 휘돌리기 동작의 운동학적 분석

The objective of this study is to identify the kinematic variables of giant swing backward to handstand as well as individual variations of each athlete performing this skill, which in turn will provide the basis for developing suitable training methods and for improving athlete's performance in actual games. For this end, 3 male athletes, members of the national team, who are in <TEX>${\Box}{\Box}H{\Box}{\Box}$</TEX> University, have been randomly chosen and their giant swing backward to handstand performance was recorded using two digital cameras and analyzed in 3 dimensional graphics. This study came to the following conclusion. 1. Proper time allocation for giant swing backward to handstand are: Phase 1 should provide enough time to attain energy for swing track of a grand round movement. The phase 3 is to throw the body up high in the air and stay in the air as long as possible to smoothen up the transition to the next stage and the phase 4 should be kept short with the moment arm coefficient of the body reduced. 2. As for appropriate changes of locations of body center, the phase 1 should be comprised of horizontal, perpendicular, compositional to make up a big rotational radius. Up to the Phase 3 the changes of displacements of vertical locations should be a good scale and athlete's body should go up high quickly to increase the perpendicular climbing power 3. When it comes to the speed changes of body center, the vertical and horizontal speed should be spurred by the reaction of the body in Phase 2 and Phase 3. In the Phase 4, fast vertical speed throws the body center up high to ensure enough time for in-the-air movement. 4. The changes of angles of body center are: in Phase 2, shoulder joint is stretching and coxa should be curved up to utilize the body reaction. In the Phase 4, shoulder joint and coxa should be stretched out to get the body center as high as possible in the air for stable landing. 5. The speeds of changes in joints angles are: in the Phase 2 should have the speed of angles of shoulder joints increase to get the body up in the air as quickly as possible. The Phase 3 should have the speed of angles in shoulder joint slow down, while putting the angles of a knee joint up to speed as quickly as possible to ensure enough time for in-the-air movement.

Kinetic Analysis of Backward Giant Swing on Parallel Bars

The purpose of this study was to investigate the kinetic characteristics of backward giant swing on parallel bars (PB) compared with those of backward giant swing on horizontal bar (HB). The subjects were six male skillful university gymnasts. Their performances of PB and HB were videotaped with a digital video camera to calculate the knee, shoulder, and hip joint angle, joint torque, joint power, and mechanical work from two-dimensional coordination of the body landmarks. The mechanical negative work done by hip extension torque leading to hang phase of PB were larger than those of HB. During upward phase from hang, the shoulder extension torque of PB was exerted longer period of time than HB, with the result that mechanical positive work done by shoulder extension torque of PB was larger than that of HB. For effective training of backward giant swing on parallel bars, the coach has to recognize their characteristic differences from those of horizontal bar.

FOREARM INJURY IN COLLEGIATE GYMNAST

HISTORY A 20-year-old, Division 1, collegiate gymnast was performing his high bar routine in practice when he sustained an acute traumatic injury to his forearm. According to the athlete, his well-used grip locked on the bar during a giant swing. As his wrist and forearm locked in position, his body continued forward until he felt a snap, had acute pain, and fell to the mat. He did not injure his head or neck. Past medical history was pertinent for other gymnastics mishaps but no forearm or wrist complaints. He had no prodrome of pain. PHYSICAL EXAMINATION Immediate evaluation on site by the trainer revealed a grossly deformed (angulated) forearm with a dorsal area of bleeding on the mid aspect of his forearm. Pulses were intact. Sensation was slightly decreased in the small finger but otherwise neurologically intact. Compartments were soft but tender, there was no complaint of head, neck, shoulder, or elbow problems. DIFFERENTIAL DIAGNOSIS Fracture-dislocation of the wrist Open both bone forearm fracture secondary to equipment failure Closed both bone forearm fracture with a superficial abrasion Pathologic fracture of the forearm Compartment syndrome of the forearm TEST AND RESULTS Radiographic studies revealed a severely angulated both bone forearm fracture with some comminution and plastic deformation of the radius. Images did not reveal any suspicion of underlying pathology. Further evaluation confirmed exposed bone and the open nature of the fracture. FINAL/WORKING DIAGNOSIS Open both bone forearm fracture secondary to equipment failure. TREATMENT AND OUTCOMES Due to intact neurovascular function, athlete was splinted with no reduction and transported to the emergency room. Subsequently he was taken emergently to surgery for irrigation, oepn reduction and internal fixation. Perioperatively he was treated with antibiotics. Range of motion was allowed immediately in the forearm and wrist. No return to sport until adequate healing has occurred, full functional strength and motion, and awareness of mildlyh elevated risk of refracture above or below the plate. The quality of all grips was inspected for the team. IMPORTANCE Understanding the on-site treatment of open fractures is important for all professionals caring for athletes. This unusual case also increases the awareness of a unique problem associated with gymnastics; the risk of forearm injury secondary to a failure of equipment to function. Equipment should be checked routinely to be in working order.

218 可変ゲインコンフィギュレーション制御による鉄棒ロボットの大車輪運動

This paper describes a new control method that realizes a giant swing motion of a 3-DOF link horizontal bar mechanism. Trajectory of free giant swing motion represented with respect to the wrist joint-angle is utilized as a reference-trajectory in the configuration based control that was proposed in our previous study. Tracking performance is investigated minutely in cases of the continuous- and discrete-time configuration based controls. Additionally,we introduce a set of wrist joint angle-variant feedback gains to decrease the tracking error in case of the discrete-time configuration based control using a digital controller. The validity of proposed control method was shown by computer simulations.

T-4-3-1 Realization of Double Salto Backward for a Horizontal Bar Exercise Robot : Accelerating by the Giant Swing

T-4-3-1 Realization of Double Salto Backward for a Horizontal Bar Exercise Robot : Accelerating by the Giant Swing

T-4-3-3 Giant-swing motions of a 3-DOF Link Mechanism

This paper investigates giant swing motions of a 3-DOF link horizontal bar mechanism. The shooting method for two sets of link parameters; a human body and an experimental setup derives five free giant swing motions. Dependence of giant motions on link parameters is discussed. To stabilize free giant swing motions, a feedback control method that actuates the second and third joint is investigated for an experiment. Each joint torque is controlled such that the measured state variables follow the time-depend free giant motion trajectories. Sets of six feedback gains are successfully determined with Genetic Algorithm (GA) for various swing motions and periods.