Return maps, parameterization, and cycle-wise planning of yo-yo playing
IEEE Transactions on Robotics
Yoyo motion planning using inversion-based optimization
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
On-line frequency adaptation and movement imitation for rhythmic robotic tasks
International Journal of Robotics Research
Periodic oscillation and exponential stability of a class of competitive neural networks
ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part I
Oscillatory behavior for a class of recurrent neural networks with time-varying input and delays
ICIC'11 Proceedings of the 7th international conference on Intelligent Computing: bio-inspired computing and applications
Optimal design of neuro-mechanical oscillators
Computers and Structures
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Different networks of coupled oscillators were developed for open-loop control of periodic motion. However, some tasks, like yo-yo playing, are open-loop unstable and require proper phase locking to stabilize. Given the phase-locking property of coupled oscillators, we investigate their application to closed-loop control of open-loop unstable systems, concentrating on the challenging task of yo-yo control. In particular, we focus on pulse-coupling, where the yo-yo sends a feedback upon reaching the bottom of the string and the onset of the oscillatory cycle is used to trigger the movement. Four networks involving either a stand-alone or a circuit level oscillator with either excitatory or inhibitory couplings are considered. Working curve analysis indicates that three of the networks cannot stabilize the yo-yo. The fourth network, which is based on a circuit-level oscillator, is analyzed using the return map and the region of stability is determined and verified by simulations. The resulting pulse-coupled oscillatory control provides a model-free control strategy that operates with an easy-to-measure low-rate feedback.