Trajectory optimization of stick considering dynamics of lacrosse goalie save motion

These days, lacrosse has become increasingly popular. The role of goalie is very important in lacrosse. If goalie makes a save, there is more chance of winning the match. The save motion of goalie has instantaneous movement of the body and the stick. Despite the fact that efficient forms must be learned and are difficult to master, there are no previous studies on save at this point in time. There is a lack of knowledge on efficient save form and teaching methods are limited to repetition and strength training. Therefore, the purpose of this study is to propose the most suitable form of saving motion for the top of the cross to reach the goal point in the shortest time. In this study, we use a rigid body link model with stick and a human body, set up an evaluation function and solve a time optimal control problem to calculate the form. In this report, a simulation of the pendulum model as a cross is performed as an initial study. In addition, we compared and validated two types of evaluation functions because the items to be evaluated in calculating the optimal form are not clear.