Acquisition of fuzzy control based exercises of a rings gymnastic robot

摘要

The ring exercises have the characteristics that the apparatus can move in all directions freely unlike the horizontal bar exercises with the constraint between hands and the horizontal bar. If a robot that performs rings exercise is realized practically by clarifying the motion control method, an application to the coaching can be expected. Therefore, we propose a novel "rings gymnastic robot" in this paper. We acquire fuzzy rules to realize a series of exercises that is a handstand through a backward giant circle by the genetic algorithm, because the rules are considered to be useful for coaching. The effectiveness of the fuzzy controller is confirmed through a simulation using a derived dynamics of two-link rings gymnastic robot.