Martial Arts (e.g. Taekwondo)
An article by ScienceInsight
Article AI134
Foreword
Scienceinsight first examines movement patterns in Taekwondo. This is followed by an implementation for 2D and 3D agents.
1. Analysis of Taekwondo movements
Taekwondo is characterized by dynamic, fast, and highly precise leg techniques, made possible by a stable base, explosive hip rotation, and balancing arm movements.
This highly complex requirement combines biomechanics, robotics, and martial arts. In-depth analysis necessitates breaking down human movement into components suitable for robotic application.
1.1. Feet & Legs (Foundation for stability and strength)
Footwork (Stepping): Small, gliding steps (Ap Seugi), quick changes of stance, and rotations on the balls of the feet (ball roll) for kicks and turns.
Stances (Seugi): Various deep and wide stances, such as Juchum Seugi (riding stance) for stability and Ap Seugi (forward stance) for agility. This requires precise angles in the hips, knees, and ankles.
Kicks (Chagi): The core of Taekwondo. Each kick is a complex kinetic chain.
Chambering: Raising the knee (hip flexion).
Execution: Explosive extension of the leg (knee extension), often with hip rotation (internal/external hip rotation). Examples: Ap Chagi (front kick), Dollyo Chagi (roundhouse kick).
Recovery: Controlled bending of the knee and placement of the foot.
Twisting Kicks: Like Dwi Huryo Chagi (hooking kick) or Bandae Dollyo Chagi (reverse roundhouse kick). In these kicks, the supporting leg often rotates 180-360 degrees on the ball of the foot, requiring extreme stability in the ankle and hip of the supporting leg.
1.2. Hips & Torso (Power Source)
Rotation: Almost every kick and punch is powered by rapid hip rotation (rotation of the torso along the vertical axis). The hips transfer power from the legs to the upper body.
Leaning: For high kicks (Yeop Chagi - side kick to the head), the entire upper body leans to the side (lateral flexion of the spine) to maintain balance and maximize reach.
1.3. Arms and hands (blocking, striking, balancing)
Blocks (Makgi): Arms are moved at specific angles and positions to deflect attacks (e.g., Arae Makgi – low block, Eolgul Makgi – face block). This requires precise angles in the shoulder, elbow, and wrist.
Punches (Jireuti): Straight, direct punches originating from the hips. The power comes from leg extension and hip rotation, which propels the body through the torso to the quickly thrown fist (shoulder flexion + elbow extension).
Balancing: The arms constantly serve as a counterweight (e.g., when kicking) to maintain angular momentum and balance.
2. Taekwondo Simulation Basics - FAQ
What is an actuator:
An actuator (or actuator) is a technical component that converts an electrical or other signal into mechanical motion to perform an action.
- To be continued - We also welcome contributions from simulation experts and humanoid robot experts to this article.