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首页> 美国政府科技报告 >Passive Dynamics in the Control of Gymnastic Maneuvers
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Passive Dynamics in the Control of Gymnastic Maneuvers

机译：体操动作控制中的被动动力学

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How do athletes reliably control complex aerial maneuvers. This report exploresthe 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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