Sensorless stabilization of bounce juggling

Ronsse, Renaud; Lefèvre, Philippe; Sepulchre, Rodolphe

doi:10.1109/tro.2005.858860

Cited by 40 publications

(61 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…actuation control that is not using any feedback information from the puck state. Holmes (1982) We generalized these results to the two-coupled-bouncing-balls Wiper's dynamics -the rotational model developed in Ronsse et al (2006) -and showed that open-loop sinusoidal actuation of Wiper's edges indeed achieves exponential stability of periodic orbits that are unstable if the wedge is unactuated and elastic. As an illustration, the parametric stability region of the period-one is depicted in Fig.…”

Section: Sensorless Controlmentioning

confidence: 92%

“…The impact model is only a crude approximate of real impact dynamics, since for example it does not capture spin effects of the puck at impact (Spong, 2001). The complete dynamics of Wiper under these simplifying assumptions has been derived in previous papers (Gerard & Sepulchre, 2005;Ronsse, Lefevre, & Sepulchre, 2006Sepulchre & Gerard, 2003).…”

Section: Wiper: An Experimental Setup Amenable To Mathematical Modelingmentioning

confidence: 99%

“…It will be used to capture in a simple way the main properties of these periodic orbits. Further details on the extension to an elaborate model can be found in Ronsse et al (2006). The present simplified version has been instrumental in developing the feedback control design discussed in the next section.…”

Section: Wiper: An Experimental Setup Amenable To Mathematical Modelingmentioning

confidence: 99%

“…The model also predicts the stability of other periodic orbits, under proper tuning of these parameters. Further details can be found in Ronsse et al (2006). Direct experimental validations of these theoretical predictions were conducted by actuating Wiper's edges with sinusoidal references.…”

Section: Sensorless Controlmentioning

confidence: 99%

“…Choice (4) imposes a negative impact acceleration, in contrast to the positive acceleration implied by mirror law algorithms. It is easily shown (Ronsse et al, 2006) that a negative acceleration is also a necessary feature of sensorless control strategies. Our robustness analysis supports previous observations by Schaal et al (1996) and Sternad et al (2001aSternad et al ( , 2001b.…”

Section: Feedback Controlmentioning

confidence: 99%

See 4 more Smart Citations

Robotics and neuroscience: A rhythmic interaction

2008

View full text Add to dashboard Cite

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.

show abstract

Section: Sensorless Controlmentioning

confidence: 92%

Section: Wiper: An Experimental Setup Amenable To Mathematical Modelingmentioning

confidence: 99%

Section: Wiper: An Experimental Setup Amenable To Mathematical Modelingmentioning

confidence: 99%

Section: Sensorless Controlmentioning

confidence: 99%

Section: Feedback Controlmentioning

confidence: 99%

See 3 more Smart Citations

Robotics and neuroscience: A rhythmic interaction

2008

View full text Add to dashboard Cite

show abstract

Reference Mirroring for Control with Impacts

Forni

Teel

Zaccarian

2013

Hybrid Systems With Constraints

View full text Add to dashboard Cite

In this chapter, we discuss the problem of preservation of two properties pertaining continuous-time systems under discretization, namely the properties of positivity and sparsity. In the first part of the chapter, the action of diagonal Padé transformations is studied together with the preservation of copositive quadratic and copositive linear Lyapunov functions. A variation of the scaling and squaring method is then introduced and shown to be able to preserve such Lyapunov functions and positivity for small sampling times. In the second part, besides positivity, the problem of preservation of the structure (sparseness) of the continuous-time system under discretization is analyzed. The action of the standard forward Euler discretization method is discussed and a new approximation method-mixed Euler-ZOH (mE-ZOH) is introduced that preserves copositive Lyapunov functions, the sparseness structure and the positivity property for all sampling times. 1.1. Introduction and statement of the problem This chapter is devoted to the study of the effects of discretization in the preservation of two properties pertaining linear systems, namely (1) positivity and (2) structure. The first property characterizes systems whose inputs, state

show abstract

Oscillators as Systems and Synchrony as a Design Principle

Sepulchre¹

Systems and Control: Foundations &Amp; Applications

View full text Add to dashboard Cite

Summary.The chapter presents an expository survey of ongoing research by the author on a system theory for oscillators. Oscillators are regarded as open systems that can be interconnected to robustly stabilize ensemble phenomena characterized by a certain level of synchrony. The first part of the chapter provides examples of design (stabilization) problems in which synchrony plays an important role. The second part of the chapter shows that dissipativity theory provides an interconnection theory for oscillators.

show abstract

Sensorless stabilization of bounce juggling

Cited by 40 publications

References 22 publications

Robotics and neuroscience: A rhythmic interaction

Robotics and neuroscience: A rhythmic interaction

Reference Mirroring for Control with Impacts

Oscillators as Systems and Synchrony as a Design Principle

Contact Info

Product

Resources

About