Names like "Donkeys in the Third Moon of Spring" and the "Wheelbarrow" have been used to describe some of the variations to this group of positions. I've only recently discovered this category of positions myself. They're very exciting and you don't have to be a Yogi for some of the variations. For the woman they are G-spot stimulating and, surprisingly, she has quite a bit of control. This position is also very erotic to the man as he has a birds-eye view of gorgeous buttocks and the pelvic freedom to thrust effortlessly. It's also known that inversion is quite good for the health when taken in moderation!
I know some of you will be immediately turned off by this position because you think it's too difficult. Don't talk yourself out of it until you read further. Remember, most positions we use we don't stay in for very long - we shift and change and adapt them to our comfort levels. Keep that in mind when trying these variations.
As you can see from the picture the woman is upside down. She is holding herself comfortably with head resting on her crossed arms so that they form a pillow and support her without having to crook her neck too much. She could easily have a pillow or two under her arms if she needed --as can you. A variation on this theme is to have the woman resting on a hassock or footstool so that she is a little higher up in relationship to her partner. Make sure the stool won't slip out from under the woman...