Passive Dynamics in the Control of Gymnastic Maneuvers.

Abstract

How do athletes reliably control complex aerial maneuvers? This report explores the role that passive dynamic stability may play in making the performance of aerial maneuvers simple and reliable. I present a control strategy that allows a running robot to perform tucked front somersaults in the laboratory. I show that passive dynamics can stabilize the layout somersault which involves an "inherently unstable" rotation about the intermediate principal axis. And I present a strategy combining open loop joint torques plus passive dynamics to produce 1 1/2 twisting front somersaults. Results are presented from laboratory experiments on gymnastic robots, from dynamic simulation of humans and robots, and from linear stability analyses of these systems.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1995
Accession Number
ADA298192

Entities

People

  • Robert Playter

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Actuators
  • Aircrafts
  • Angular Momentum
  • Computer Graphics
  • Computers
  • Control Systems
  • Control Systems Engineering
  • Coordinate Systems
  • Dynamic Response
  • Equations
  • Equations Of Motion
  • Grids
  • Hydraulic Actuators
  • Joints (Anatomy)
  • Linear Systems
  • Mechanics
  • Three Dimensional

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy