The simulation of the gymnast on a trampoline is the most complex
of our examples. To model this system correctly requires a control
system capable of dynamically balancing the gymnast on the deformable
trampoline as well as a physically realistic model of the gymnast, the
trampoline, and the interactions between them. It is also an example
of a situation where the interactions between two systems are of
critical importance because the behavior of the trampoline is
significantly affected by the actions of the gymnast, and in turn her
behavior is significantly affected by the trampoline.
The physical simulation of the gymnast is modeled using an articulated
rigid body, and the control system is governed with a finite state
machine. The structure of the state machine was designed by hand, but
a numerical search technique was used to determine parameters that
would allow the gymnast to to perform bouncing maneuvers.
The trampoline is a spring and mass system. Like the gymnast, the
physical description of the system is generated automatically from a
geometric model. Parameters for the frame springs and for the bed of
the trampoline were selected to produce deformations similar to those
observed in still images and video footage under similar load
conditions.
![[Georgia Tech]](./Picts/tBarGT.gif){kind=small}
![[GVU]](./Picts/tBarGVU.gif){kind=small}
![[Search]](./Picts/tBarMag.gif){kind=small}
![[Animation lab]](./Picts/tBarAnim.gif){kind=small}
![[Gymnast on Trampoline]](./Picts/trampPairSmall.gif)
