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

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.