Dynamical systems with active singularities: Input/state/output modeling and control
Automatica (Journal of IFAC)
Robot basketball: a comparison of ball dribbling with visual and force/torque feedback
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Bouncing an unconstrained ball in three dimensions with a blind juggling robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On-line frequency adaptation and movement imitation for rhythmic robotic tasks
International Journal of Robotics Research
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The paper considers the feedback stabilization of periodic orbits in a planar juggler. The juggler is "blind," i.e, he has no other sensing capabilities than the detection of impact times. The robustness analysis of the proposed control suggests that the arms acceleration at impact is a crucial design parameter even though it plays no role in the stability analysis. Analytical results and convergence proofs are provided for a simplified model of the juggler. The control law is then adapted to a more accurate model and validated in an experimental setup.