Generating Stable Propeller Motions for Devil Stick

Anton Shiriaev, Anders Robertsson, Leonid Freidovich, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

Abstract

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.
Original languageEnglish
Title of host publicationProc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
Publication statusPublished - 2006
Event3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006 - Nagoya, Japan
Duration: 2006 Jul 192006 Jul 21
Conference number: 3

Workshop

Workshop3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006
Abbreviated titleLHMNLC'06
Country/TerritoryJapan
CityNagoya
Period2006/07/192006/07/21

Subject classification (UKÄ)

  • Control Engineering

Keywords

  • Motion planning for periodic solutions

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