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

PDF Url : ADA298192

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