A study on rings gymnastic robot: (Fuzzy control rules for realizing exercises)

Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

The rings event is one of men's apparatus gymnastics, and has free-floating characteristics at the gripping point that do not exist in the other gymnastic events. In this paper, we propose a rings gymnastic robot intended to apply it to the coaching. Joint torque in exercises is informative for the coaching and gymnasts can easily obtain the knowledge to realize exercises if a control law of the torque is represented as "if-then" rules. Therefore, we adopt fuzzy control as a control strategy for the rings gymnastic robot. The purpose of this paper is to acquire suitable fuzzy rules for realizing a series of exercises, which is a handstand from backward giant circle. Simulation results show the effectiveness of the fuzzy rules and a guideline for the coaching can be read from the fuzzy rules.

Original languageEnglish
Pages (from-to)893-899
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume68
Issue number3
Publication statusPublished - Mar 1 2002
Externally publishedYes

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Keywords

  • Coaching
  • Fuzzy Reasoning
  • Genetic Algorithm
  • Rings Gymnastic Robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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