Accession Number : ADA298192


Title :   Passive Dynamics in the Control of Gymnastic Maneuvers.


Descriptive Note : Technical rept.,


Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB


Personal Author(s) : Playter, Robert


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a298192.pdf


Report Date : MAR 1995


Pagination or Media Count : 186


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.


Descriptors :   *ROBOTS , *HUMAN BODY , *FLIGHT MANEUVERS , LINEAR SYSTEMS , CONTROL , SIMULATION , STABILITY , LABORATORY TESTS , STRATEGY , DYNAMICS , PASSIVE SYSTEMS , MATHEMATICAL ANALYSIS , LINEARITY , ROTATION.


Subject Categories : CYBERNETICS
      HUMAN FACTORS ENGINEERING & MAN MACHINE SYSTEM


Distribution Statement : APPROVED FOR PUBLIC RELEASE