Optimal control based skill development system for the kip

Abstract

A skill development system which uses a pendulum model and kinematic redundancy to determine the torques of a 3 link system is discussed. This 3 link model performs an acrobatic motion called the kip. A kip pattern of a gymnast’s center of mass is optimized by using a variable length pendulum. We input the results of this model into the 3 link system and by using kinematic redundancy considering system dynamics, we can find the optimal joint trajectories. The gymnast uses primarily torques generated in the hip and shoulder joints to perform the kip. We show that we can reduce the torque in the wrist joint such that it is less than the torques generated in the hip and shoulder joints of the 3 link robot and successfully perform the kip. Additionally, analyzing the trajectory of the center of mass may provide useful coaching information to the beginner.