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
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