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Generating Stable Propeller Motions for Devil Stick

Shiriaev, Anton ; Robertsson, Anders LU ; Freidovich, Leonid and Johansson, Rolf LU orcid (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)
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author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Motion planning for periodic solutions
host publication
Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
conference name
3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006
conference location
Nagoya, Japan
conference dates
2006-07-19 - 2006-07-21
project
LU Robotics Laboratory
Stable Oscillations in Nonlinear Systems 2006-2008
language
English
LU publication?
yes
id
a0560f32-abce-4b25-95f4-f1548fcfbe16 (old id 937323)
date added to LUP
2016-04-04 13:43:05
date last changed
2019-04-10 16:27:53
@inproceedings{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},
  booktitle    = {Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control},
  language     = {eng},
  title        = {Generating Stable Propeller Motions for Devil Stick},
  year         = {2006},
}