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Generating Stable Propeller Motions for Devil Stick

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Author

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.

Publishing year

2006

Language

English

Publication/Series

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

Document type

Conference paper

Topic

  • Control Engineering

Keywords

  • 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

Project

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