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Generating Stable Propeller Motions for Devil Stick

In English

Författare

Summary, in English

The theory for motion planning and feedback stabilization of periodic orbits has regained a large interest during the last couple of years, with applications in, for instance, biped locomotion. The analysis of zero-dynamics after partial feedback linearization has been one means. More recently, the introduction of virtual holonomic constraints has offered also the design tools for these type of systems. The devil stick is a juggling device. We concentrate here on a particular propeller-like juggling motion where the periodic rotational motion of the center stick is induced by the contact force from a one-hand stick. The control design for a stabilized periodic orbit of the devil stick is based on virtual holonomic constraints for hybrid systems.

Publiceringsår

2006

Språk

Engelska

Publikation/Tidskrift/Serie

Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Nyckelord

  • Motion planning for periodic solutions

Conference name

3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006

Conference date

2006-07-19 - 2006-07-21

Conference place

Nagoya, Japan

Status

Published

Projekt

  • LU Robotics Laboratory
  • Stable Oscillations in Nonlinear Systems 2006-2008