Efficient Generation of Whip-Like Throwing and Striking Motions

This paper examines three methods to algorithmically generate throwing and striking motions. All three methods produce progressive, whip-like motions characteristic of experienced humans in many athletic activities. A new control algorithm based on dynamic, cascaded gains is introduced and compared to optimal control using space-time constraints and fixed-gain proportional control. Experimental results demonstrate that cascaded gains can produce near-optimal performance. Principles of energy generation and transmission are used to explain the mechanical advantage gained by using a whip-like motion. The results have application in the control of real robots and in motion synthesis for animation.