We have already proposed the "rings gymnastic robot" aiming at an application to the gymnastic coaching by understanding the ring exercises through the robot. The ring exercises have the characteristics that the apparatus can move in all directions freely unlike the other gymnastic events. Fuzzy control is adopted as a control method for the rings gymnastic robot. Because joint torque in performance is useful for the coaching and gymnasts can easily understand the skill to realize performance if the control method is represented as "if-then" rules. In this paper, we derive a three-dimensional model of the robot and acquire the performance skill of a backward giant circle using a genetic algorithm. Three-dimensional graphics sequence based on simulation results shows that the obtained skill is effective.
|出版ステータス||出版済み - 2002|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering