2010 Fiscal Year Final Research Report
Redundancy and Optimization Criteria for Planning of the High Bar Movements
| Project/Area Number |
21700225
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Okayama Prefectural University |
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Principal Investigator |
YAMASAKI Taiga Okayama Prefectural University, 情報工学部, 助教 (40364096)
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| Project Period (FY) |
2009 – 2010
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| Keywords | 鉄棒 / 冗長性 / 最適性 / 生成規範 / モーションプランニング / 運動制御 |
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| Research Abstract |
(1) We proposed two optimization criteria for explaining the kip movements of expert gymnasts on the horizontal bar : a combined criterion and a hierarchical criterion. Both criteria require the minimization of the square of the joint torques and the time derivatives of the joint torques during the movements. (2) We proposed a systematic method to calculate a set of movements that achieve the tasks defined by an initial pose and a final pose, and showed a part of redundancy of the kip movements and the giant swing backward movements on the horizontal bar.
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