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Design of a Robotic System that Plays with a Yoyo
Koichi Hashimoto and Toshiro Noritsugu
Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-naka, Okayama 700-8530, Japan
Received:April 26, 1999Accepted:June 4, 1999Published:October 20, 1999
Keywords:nonlinear control, vision, yoyo
Abstract
Yoyo dynamics are discontinuous and highly nonlinear, and dynamic parameters are difficult to estimate precisely. Some parameters even change their sign at the loop bottom of yoyo's trajectory. Humans predict parameter change timing visually and sense yoyo dynamics through the fingers. Designing a robot that plays with a yoyo is difficult due to a lack of sensors and dynamic equations for sensing yoyo movement. We propose eventbased formulation for this based on an energy balance model and event-driven control. Simulations and experiments verified the validity of formulation and controller design.
Cite this article as:K. Hashimoto and T. Noritsugu, “Design of a Robotic System that Plays with a Yoyo,” J. Robot. Mechatron., Vol.11 No.5, pp. 387-392, 1999.Data files:
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
