A computerized method based on optimal dynamic synthesis was developed
for generating the flight phase of somersaults. A virtual gymnast is modeled
as a planar seven-segment multibody system with six internal degrees of
freedom. The aerial movement is generated using a parametric optimization
technique. The performance criterion to be minimized is the integral quadratic
norm of the torque generators. The method produces realistic movements
showing that somersaults perfectly piked or tucked appear spontaneously
according to the value of the rotation potential of the initial movement.
It provides accurate knowledge of the evolution of joint actuating
torques controlling the somersault, and makes it possible to investigate precisely
the configurational changes induced by modifications of the rotation
potential. Four simulations are presented: one with a reference value for the
rotation potential, two with reduced values, and the last with a different hip
flexion limit. They give an insight into the coordination strategies which
make the movement feasible when the rotation potential is decreased. The
method gives accurate assessments of the energetic performance required,
together with precise evaluations of the mechanical efforts to be produced
for generating the acrobatic movement
