Advanced

Generating Stable Propeller Motions for Devil Stick

Shiriaev, Anton; Robertsson, Anders LU ; Freidovich, Leonid and Johansson, Rolf LU (2006) 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006
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... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Motion planning for periodic solutions
conference name
3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006
language
English
LU publication?
yes
id
a0560f32-abce-4b25-95f4-f1548fcfbe16 (old id 937323)
date added to LUP
2008-01-18 11:44:00
date last changed
2016-06-28 13:07:11
@misc{a0560f32-abce-4b25-95f4-f1548fcfbe16,
  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.},
  author       = {Shiriaev, Anton and Robertsson, Anders and Freidovich, Leonid and Johansson, Rolf},
  keyword      = {Motion planning for periodic solutions},
  language     = {eng},
  title        = {Generating Stable Propeller Motions for Devil Stick},
  year         = {2006},
}