Robotic yoyo playing with visual feedback
IEEE Transactions on Robotics
On-line frequency adaptation and movement imitation for rhythmic robotic tasks
International Journal of Robotics Research
Reflexive stability control framework for humanoid robots
Autonomous Robots
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In the paper we address a problem of controlling an oscilmotion with a robot. As the object we have selected a yo-yo. First we have measured and analysed the motion of different yo-yos. We have developed a simplified model of a yo-yo which has one degree-of-freedom, and the behaviour at the end of the string is modelled as an impact. Next, we discuss the control strategy. Our results show, that for playing a yo-yo it is important to start the upward motion before the yo-yo reaches the bottom position and the acceleration has to be reversed after the bottom impact. We present two control strategies: one based on predefined hand motion pattern and and the other generating the hand motion on-line. Both allow playing the yo-yo at a selected top height. The theoretical results have been proven by experiments on a real robot system.