Motion Analysis and Control of Eskimo Roll of Kayak

为了分析人体和皮划艇的非定常运动，用CCD摄像机拍摄了爱斯基摩人在水池中的短滚和长滚运动。研究发现，短滚道的滚动速度大约是长滚道的两倍，而长滚道的运动几乎是二维的，而短滚道的运动则是三维的。利用一个带有机械手的水下机器人的运动模型对长滚道的人体动力学进行了理论分析，分别用三连杆和一连杆代替了人体的划桨。关节的运动通过同时使用逆运动学和逆动力学来求解。仿真结果与实验结果吻合较好。我们制作了一个由三关节机械手和一个皮划艇模型组成的爱斯基摩滚转机器人。通过输入末端执行器的加速度和角加速度，从机械手的运动模型和皮划艇模型获得关节的运动，从而设定机器人的目标运动。采用PD对照。我们发现机器人可以从倾覆的状态中恢复过来。

Motion of short-roll and long-roll of Eskimo roll were pictured by CCD cameras in a pool to analyze the unsteady motion of human body and a kayak. We found out that the rolling speed of short-roll is about twice as fast as that of long-roll and that motion of long-roll is almost two-dimensional whereas motion of short-roll is three-dimensional.Human dynamics of long-roll was analyzed theoretically by using a motion model of an underwater robot with a manipulator where a human body a paddle were replaced with three links and one link, respectively. Motion of the joints were solved by simultaneous use of inverse kinematics and inverse dynamics. We found out that the simulation result corresponds fairly well with the experimental result.We made a Eskimo roll robot consisting of a manipulator with three joints and a kayak model. Motions of the joints were obtained to set the target motion of the robot from the motion model of a manipulator and a kayak model by inputting acceleration and angular acceleration of the end-effector. PD control was used. We found out that the robot could turn up from the capsized condition.