NDLI: Time-optimal control of a swing

Content Provider	IEEE Xplore Digital Library
Author	Kulkarni, J.E.
Copyright Year	2003
Description	Author affiliation: Dept. of Theor. & Appl. Mech., Cornell Univ., Ithaca, NY, USA (Kulkarni, J.E.)
Abstract	It is well-known that some form of optimization takes place in skilled human tasks. Using largely numerical techniques researchers in the field of biomechanics have optimized different cost functions to predict human motion for tasks like walking and rowing. In a similar vein in this paper we show, using Pontryagin's minimum principle and after some simplification, that the typical pumping strategy used by children on a swing is time-optimal. We present results for the two special cases: When the swing is to be taken from small initial oscillations to a specific final angle in minimum time, and when it is to be brought from an initial angle to rest in minimum time. The method outlined is extendable to other initial and final conditions, though the results obtained for other boundary conditions are not as elegant and intuitive as in the cases discussed.
Sponsorship	Honeywell Lab. Xerox Nat. Instruments Math Works
Starting Page	1729
Ending Page	1733
File Size	261728
Page Count	5
File Format	PDF
ISBN	0780379241
ISSN	01912216
DOI	10.1109/CDC.2003.1272862
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-12-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Biomechanics Cost function Equations Optimal control Physics Legged locomotion Veins Boundary conditions Constraint optimization
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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