| Presentation | 2007-03-15 An analysis of the kip motion on the horizontal bar based on the criterion considering energetic cost Miyo TAKEUCHI, Taiga YAMASAKI, Kiyoshi GOTOH, Masahiro KANEDA, Xin XIN, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The kip movements performed by expert gymnasts have been suggested to be explained with the minimum commanded-torque-change criterion and the assumption of one or more via-points. On the other hand, the expert gymnasts say that such the movements are associated with 'effortless' realization of the skill. We temporarily assume the integral of the square of the joint-torque as some kind of energetic cost, and investigate two approaches to understanding the kip motion: (1) an additively combined criterion composed of the minimum torque-change and the minimum energetic cost for explaining the motion without assuming via-points, and (2) a hierarchical criterion in which the allocation of the via-points is decided by concerning the minimization of the energetic cost of the whole movement. The results of simple numerical analysis suggest that both the approaches could explain the kip motion of expert gymnasts, with the exception of a local minimum. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | horizontal bar / kip motion / trajectory generation / minimum torque change / energetic cost / nonholonomic / hierarchy |
| Paper # | NC2006-155 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2007/3/8(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | An analysis of the kip motion on the horizontal bar based on the criterion considering energetic cost |
| Sub Title (in English) | |
| Keyword(1) | horizontal bar |
| Keyword(2) | kip motion |
| Keyword(3) | trajectory generation |
| Keyword(4) | minimum torque change |
| Keyword(5) | energetic cost |
| Keyword(6) | nonholonomic |
| Keyword(7) | hierarchy |
| 1st Author's Name | Miyo TAKEUCHI |
| 1st Author's Affiliation | Okayama Prefectural University() |
| 2nd Author's Name | Taiga YAMASAKI |
| 2nd Author's Affiliation | Okayama Prefectural University |
| 3rd Author's Name | Kiyoshi GOTOH |
| 3rd Author's Affiliation | / Okayama Prefectural University |
| 4th Author's Name | Masahiro KANEDA |
| 4th Author's Affiliation | Okayama Prefectural University |
| 5th Author's Name | Xin XIN |
| 5th Author's Affiliation | |
| Date | 2007-03-15 |
| Paper # | NC2006-155 |
| Volume (vol) | vol.106 |
| Number (no) | 589 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |