A One Degree of Freedom Juggler in a Two Degree of Freedom Environment

Bühler, Martin; Koditschek, Daniel E.; Kindlmann, P. J.

doi:10.1109/iros.1988.592413

Cited by 22 publications

(32 citation statements)

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“…Exploiting a special configuration of the juggler in which the dynamical model is considerably simplified, the theoretical analysis is developed on the celebrated dynamics of a ball vertically bouncing on a vibrating table. This simplified model allows for analytical developments and facilitates the comparison of our approach with abundant literature [8]- [10], [25]- [29]. We use the continuous-time actuation of the table to stabilize a reference trajectory for the bouncing ball.…”

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confidence: 99%

Rhythmic Feedback Control of a Blind Planar Juggler

2007

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Abstract-The paper considers the feedback stabilization of periodic orbits in a planar juggler. The juggler is "blind," i.e, he has no other sensing capabilities than the detection of impact times. The robustness analysis of the proposed control suggests that the arms acceleration at impact is a crucial design parameter even though it plays no role in the stability analysis. Analytical results and convergence proofs are provided for a simplified model of the juggler. The control law is then adapted to a more accurate model and validated in an experimental setup.

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confidence: 99%

Rhythmic Feedback Control of a Blind Planar Juggler

2007

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“…To enlarge the basins of attraction and make the system more robust, closed-loop control is required. Buehler, Koditschek, and Kindlmann (1988 were the first to address the question of feedback in rhythmic robotic designs, and focused their pioneering investigations on the bouncing ball vertical dynamics. They developed the so-called mirror law algorithms that are based on permanent tracking of the juggled balls and an actuation profile that "mirrors" their motion.…”

Section: Sensorless Controlmentioning

confidence: 99%

“…This feedback control law then requires a continuous tracking of the ball (continuous sensing feedback) that ensures to impact the ball at a constant position (s = 0) and with a constant velocity in steady-state. The mirror law and several extensions proved to be very robust, and led to successful experimental validations with bouncing robots in 1D, 2D and 3D environments (Buehler et al, 1988(Buehler et al, , 1990(Buehler et al, , 1994. The mirror law is based on continuous tracking of the juggled objects which requires permanent sensory processing.…”

Section: Feedback Controlmentioning

confidence: 99%

Robotics and neuroscience: A rhythmic interaction

2008

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a b s t r a c tAt the crossing between motor control neuroscience and robotics system theory, the paper presents a rhythmic experiment that is amenable both to handy laboratory implementation and simple mathematical modeling. The experiment is based on an impact juggling task, requiring the coordination of two upper-limb effectors and some phase-locking with the trajectories of one or several juggled objects. We describe the experiment, its implementation and the mathematical model used for the analysis. Our underlying research focuses on the role of sensory feedback in rhythmic tasks. In a robotic implementation of our experiment, we study the minimum feedback that is required to achieve robust control. A limited source of feedback, measuring only the impact times, is shown to give promising results. A second field of investigation concerns the human behavior in the same impact juggling task. We study how a variation of the tempo induces a transition between two distinct control strategies with different sensory feedback requirements. Analogies and differences between the robotic and human behaviors are obviously of high relevance in such a flexible setup.

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“…This issue reaches across a number of disciplines and seems relevant not only to animal behavior modeling but also to rhythmic robotics. But it has received limited attention in the control community beyond the pioneering work of Koditschek and coworkers, initially in juggling robotics [1], [2], [3] and more recently in legged robotics [4].…”

Section: Introductionmentioning

confidence: 99%

Timing Feedback Control of a Rhythmic System

Ronsse

Lefèvre

Sepulchre

Proceedings of the 44th IEEE Conference on Decision and Control

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Abstract-This paper addresses the question relative to the role of sensory feedback in rhythmic tasks. We study the properties of a sinusoidally vibrating wedge-billiard as a model for 2-D bounce juggling. If this wedge is actuated with an harmonic sinusoidal input, it has been shown that some periodic orbits are exponentially stable. This paper explores an intuitive method to enlarge the parametric stability region of the simplest of these orbits. Accurate processing of timing is proven to be an important key to achieve frequency-locking in rhythmic tasks.

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A One Degree of Freedom Juggler in a Two Degree of Freedom Environment

Cited by 22 publications

References 1 publication

Rhythmic Feedback Control of a Blind Planar Juggler

Rhythmic Feedback Control of a Blind Planar Juggler

Robotics and neuroscience: A rhythmic interaction

Timing Feedback Control of a Rhythmic System

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