• Korean Journal of Applied Biomechanics
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• v.18 no.2
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• pp.29-39
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• 2008

This study was to provide for Tippelt technique which was a basic technique used in parallel bars. The program was applied to players for 8 weeks. Then it was analyzed by using 3Dmotion Analysis system to seek the difference between before and after using the program. Moreover establish the improvement and trait for newly made program. The program was made up of down-swing, up-swing and composite connection-phase training. Through down-swing training, shoulder angle made extension and chest closed quickly. As a result, players' performance have improved. Through up-swing training, legs kicking to vertical direction and trunk stood up fastly. As a result, players' performance have improved. When going upward, the center of mass must be in control not to have a lot of movement and hip angle extension using the bar is very positive coaching. When coaching composite connection in training from down-swing to up-swing, must have enough air phase time using center of mass vertically to have extension of leg. As a result, players' performance have improved by having increase of air phase time.

• Journal of Advanced Marine Engineering and Technology
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• v.26 no.4
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• pp.432-438
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• 2002

In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.104.5-104
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• 2001

In this paper, we address the swing up control and the singular problem of an acrobot. We derive a serial system equation from the acceleration constraint that there is no actuator on the first joint. Based on the serial system representation, we propose a swing up and stabilization control algorithm to move the acrobot from its downward equilibrium to its inverted equilibrium position. Simulation result is also provided to show the effectiveness of the proposed control strategy.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.548-553
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• 2008

In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm's angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.835-841
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• 2014

In this paper we propose a swing-up strategy for a single inverted pendulum. The proposed method has a feature whereby can handle the input and output constraint of a pendulum in a systematic way. For the swing-up of a pendulum, we adopt a 2-DOF control structure that combines the feedforward and feedback control. In order to generate the swing-up feedforward trajectories that satisfy the input and output constraint, we formulate the problem of generating feedforward trajectories as a nonlinear optimal control problem subject to constraints. We illustrate that the proposed method is more flexible than the existing method and provides great freedom in choosing the actuator of the inverted pendulum. Through an experiment, we show that the proposed method can swing a pendulum upward effectively while satisfying all the imposed constraints.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.3
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• pp.200-208
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• 2014

This paper presents the control of an inverted pendulum system using intelligent algorithms, such as fuzzy logic and neural networks, for advanced control education. The swing up balancing control of the inverted pendulum system was performed using fuzzy logic. Because the switching time from swing to standing motion is important for successful balancing, the fuzzy control method was employed to regulate the energy associated with the angular velocity required for the pendulum to be in an upright position. When the inverted pendulum arrived within a range of angles found experimentally, the control was switched from fuzzy to proportional-integral-derivative control to balance the inverted pendulum. When the pendulum was balancing, a joystick was used to command the desired position for the pendulum to follow. Experimental results demonstrated the performance of the two intelligent control methods.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.7
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• pp.517-524
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• 2004

For real world applications of reinforcement learning techniques, function approximation or generalization will be required to avoid curse of dimensionality. For this, an improved function approximation-based reinforcement teaming method is proposed to speed up convergence by using CA-CMAC(Credit-Assigned Cerebellar Model Articulation Controller). To show that our proposed CACRL(CA-CMAC-based Reinforcement Learning) performs better than the CRL(CMAC- based Reinforcement Learning), computer simulation and experiment results are illustrated, where a swing-up control Problem of an acrobot is considered.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.621-624
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• 2003

For real world applications of reinforcement learning techniques, function approximation or generalization will be required to avoid curse of dimensionality. For this, an improved function approximation-based reinforcement learning method is proposed to speed up convergence by using CA-CMAC(Credit-Assigned Cerebellar Model Articulation Controller). To show that our proposed CACRL(CA-CMAC-based Reinforcement Learning) performs better than the CRL(CMAC-based Reinforcement Learning), computer simulation results are illustrated, where a swing-up control problem of an acrobot is considered.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.71.4-71
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• 2001

This paper presents swing up and stabilization control of an underactuated two-link robot called the Pendubot. This device is a two-link planar robot with an actuator at the shoulder, but no actuator at the elbow. The controller swings up first link from its open loop stable equilibrium point to the unstable equilibrium point and then, catches the unactuated second link to balance it there. Two control algorithms are used for this task. Proportional Derivative Control technique is used to design the swing up control. The linear model of Pendubot is obtained by linearizing the nonlinear dynamic equations about the desired equilibrium point and LQR technique is used to design a stabilization controller.

• The Research Journal of the Costume Culture
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• v.19 no.5
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• pp.1049-1060
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• 2011

The purpose of this study was to develop a shirt pattern that enhances the functionality of golf swing motions. The pattern was made with 3D body surface shape data that changed according to dynamic golf postures. The data were collected from the golf swing motions. The 3D body surface data in golf swing postures piled up on the 3D surface data in a static posture. The results showed that the surface shape data changed more in the address, back swing, and finish postures than the other swing postures. The experimental pattern was developed with 3D surface scan data in those three golf swing motions. The pattern had raglan sleeves and the front-bodied piece was divided into two pieces with a princess line, which comes from armscye line of the address posture. The back bodice piece was divided into three pieces with a yoke line and a back princess line. The yoke line was made by back shoulder shape in the back swing posture. The level of comfort of the experimental garment and commercial golf shirts was evaluated by 38 women golfers. The experimental garment pattern was evaluated to be more comfortable in golf swing postures than commercial golf shirts.