Robotic Yoyo Playing With Visual Feedback

IEEE Transactions on Robotics

Volumn 20, Issue 4, 2004, Pages 736-744

  Jin, Hui Liang ^a   Zacksenhouse, Miriam ^b  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

^b TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

Author keywords

Model based control; rhythmic motion control; robotic juggling; yoyo playing

Indexed keywords

ALGORITHMS; ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); FEEDBACK; MATHEMATICAL MODELS; MOTION CONTROL; REAL TIME SYSTEMS; STATE ESTIMATION; SYSTEM STABILITY; THEOREM PROVING;

MODEL BASED CONTROL; RHYTHMIC MOTION CONTROL; ROBOTIC JUGGLING; ROBOTIC YOYO PLAYING SYSTEM;

ROBOTICS;

EID: 4344682969     PISSN: 15523098     EISSN: 19410468     Source Type: Journal    
DOI: 10.1109/TRO.2004.829478     Document Type: Article

References (21)

1. M. H. Raibert, Legged Robots That Balance. Cambridge, MA: MIT Press, 1986.
2. D. E. Koditschek and M. Buehler,“Analysis of a simplified hopping robot,” Int. J. Robot. Res., vol. 10, no. 6, pp. 587-605, Dec. 1991.
3. M. D. Berkemeier and R. S. Fearing,“Sliding and hopping gaits for the underactuated acrobot,” IEEE Trans. Robot. Automat., vol. 14, pp. 629-634, Aug 1998.
4. J. Nakanishi, T. Fukuda, and D. E. Koditschek,“A brachiating robot controller,” IEEE Trans. Robot. Automat., vol. 16, pp. 109-123, Apr. 2000.
5. M. Buehler and D. E. Koditschek,“From stable to chaotic juggling: Theory, simulation, and experiments,” in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, Cincinnati, OH, May 1990, pp. 1976-1981.
6. M. Buehler, D. E. Koditschek, and P. J. Kindlmann,“A family of robot control strategies for intermittent dynamical environments,” IEEE Con trol Syst. Mag., vol. 10, pp. 16-22, Feb. 1990.
7. M. Buehler, D. E. Koditschek, and P. J. Kindlmann,“Planning and control of robotic juggling and catching tasks,” Int. J. Robot. Res., vol. 13, no. 2, pp. 101-118, Apr. 1994.
8. A. A. Rizzi and D. E. Koditschek,“Progress in spatial robot juggling,” in Proc. IEEE Int. Conf. Robotics and Automation, vol. 1, Nice, France, May 1992, pp. 775-780.
9. S. Schaal and C. G. Atkeson,“Open-loop stable control strategies for robot juggling,” in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, Atlanta, GA, May 1993, pp. 913-918.
10. S. Schaal and C. G. Atkeson,“Robot juggling: Implementation of memory-based learning,” IEEE Control Syst. Mag., vol. 14, pp. 57-71, Feb. 1994.
11. A. Zavala-Rio and B. Brogliato,“On the control of a one degree-of freedom juggling robot,” Dynam. Contr., vol. 9, no. 1, pp. 67-90, Jan. 1999.
12. A. Zavala-Rio and B. Brogliato,“Direct adaptive control design for one degree-of-freedom complementary-slackness jugglers,” Automatica, vol. 37, no. 7, pp. 1117-1123, July 2001.
13. K. M. Lynch and C. K. Black,“Recurrence, controllability, and stabilization of juggling,” IEEE Trans. Robot. Automat., vol. 17, pp. 109-123, Apr. 2001.
14. E. W. Aboaf, S. M. Drucker, and C. G. Atkeson,“Task-level robot learning: Juggling a tennis ball more accurately,” in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, Scottsdale, AZ, May 1989, pp. 1290-1295.
15. S. Kurosu,“Dynamics of a human-operated dynamical system (yoyo control system)”(in Japanese), Trans. SICE, vol. 14, no. 3, pp. 277-282, 1978.
16. K. Hashimoto and T. Noritsugu,“Modeling and control of robotic yoyo with visual feedback,” in Proc. IEEE Int. Conf. Robotics and Automa tion, vol. 3, Minneapolis, MN, Apr. 1996, pp. 2650-2655.
17. J. Guckenheimer and P. Holmes, Nonlinear Oscillations, Dynamical System, and Bifurcations of Vector Fields. New York: Springer-Verlag, 1983.
18. H. L. Jin and M. Zacksenhouse,“Yoyo dynamics: Sequence of collisions captured by a restitution effect,” J. Dynam. Syst., Meas., Contr., vol. 124, no. 3, pp. 390-397, 2002.
19. H. L. Jin and M. Zacksenhouse,“Necessary condition for simple oscillatory neural control of robotic yoyo,” in Int. Joint Conf. Neural Networks-World Congr. Computational Intelligence, Honolulu, HI, May 2002, pp. 1427-1432.
20. H. L. Jin and M. Zacksenhouse,“Oscillatory neural networks for robotic yoyo control,” IEEE Trans. Neural Networks, vol. 14, no. 2, pp. 317-325, 2003.
21. D. Gulick, Encounter With Chaos. New York: McGraw-Hall, 1992.