Legged robots that balance
Analysis of a simplified hopping robot
International Journal of Robotics Research
On the control of a one degree-of-freedom juggling robot
Dynamics and Control
Optimal Control Systems
The bow leg hopping robot
Coupling the neural and physical dynamics in rhythmic movements
Neural Computation
Robotic yoyo playing with visual feedback
IEEE Transactions on Robotics
Brief Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers
Automatica (Journal of IFAC)
Oscillatory neural networks for robotic yo-yo control
IEEE Transactions on Neural Networks
On-line frequency adaptation and movement imitation for rhythmic robotic tasks
International Journal of Robotics Research
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This note presents a unified approach to nominal control generation and return map parameterization for yo-yo playing. The approach is based on choosing an intermediate state of the yo-yo as the parameter and formulating an optimization problem with appropriate boundary conditions that incorporate the corresponding parameter. By solving the optimization problems, both the return map and the nominal optimal control for the robot can be obtained. The return map is naturally parameterized with the intermediate state, which can be treated as a virtual control. The return map facilitates the application of standard analysis and design methods for discrete-time control systems. The approach is promising as it might be extended to control other cyclic dynamic systems.