KIPS - A start this morning -
Modeling a human doing physical skills is complex. Kips have been around a long while and much has been worked on - fortunately. Modeling the human into segments is important, but assumptions have to be made. Humans differ in length, mass and ability to produce "work." A kip for each of us varies. Continuing - Each segment has mass and the CM of each can move, rotate and change height (relative to ground).
A LB kip starts with potential energy as they stand on the mounting board (block). They jump to the bar lifting their hips behind them and create a bit more potential energy. During the swing phase total energy (sum of kinetic and potential energy) decreases, mostly due to friction with bar. Energy (while doing the skill) then increases. Work now commences. When you lift your legs it changes the location of the center of mass (and thus increase the gravitational potential energy) and increases her rotational rate (which increases her kinetic energy). The straight arms pushing against the bar contributes to completing the rotation of the hips upward and behind the bar.
Human - Body tension throughout the skill is needed to be able to maintain power during this approx. 1 sec. skill. Force generated while doing the kip have been measured as high as 2.3 x body weight (
http://www.ncbi.nlm.nih.gov/pubmed/6652865 - study on mens HB). Abs, hip muscles, low back, legs are heavily involved in the work of lifting your legs at the end of the swing.
The timing of lifting your legs has a small window to be applied - too late poor transfer of momentum, too early not enough. Bent legs transfer lower energy. The timing of grip shift (in order to have the potential to push on the UB) and continue rotation is critical.
I am running out of steam and time.....I hope this contributes. SBG -