Related papers: Ball in double hoop: demonstration model for numer…
This paper addresses a drone ball-balancing task, in which a drone stabilizes a ball atop a movable beam through cable-based interaction. We propose a hierarchical control framework that decouples high-level balancing policy from low-level…
The motion of a hoop hung on a spinning wire provides an illustrative and pedagogical example of a supercritical bifurcation. Above a certain angular velocity threshold Omega_c, the hoop rises, making an angle theta = (Omega-Omega_c)^(1/2)…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…
The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical. Safety requirements are often…
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. The controlled equations of motion are solved numerically using a predictor-corrector…
Dual control denotes a class of control problems where the parameters governing the system are imperfectly known. The challenge is to find the optimal balance between probing, i.e. exciting the system to understand it more, and caution,…
This paper presents the modeling, control design, and performance analysis of a Magnetic Ball Suspension System (MBSS), a nonlinear and inherently unstable electromechanical system used in various precision applications. The system's…
Game dynamics structure (e.g., endogenous cycle motion) in human subjects game experiments can be predicted by game dynamics theory. However, whether the structure can be controlled by mechanism design to a desired goal is not known. Here,…
In this paper we analyse local regularity of time-optimal controls and trajectories for an n-dimensional affine control system with a control parameter, taking values in a k-dimensional closed ball. In the case of k equal to n-1, we give…
If a tennis ball is held above a basket ball with their centers vertically aligned, and the balls are released to collide with the floor, the tennis ball may rebound at a surprisingly high speed. We show in this article that the simple…
Evolutionary motions in a bouncing ball system consisting of a ball having a free fall in the Earth's gravitational field have been studied systematically. Because of nonlinear form of the equations of motion, evolutions show chaos for…
Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using for instance infrared coating changes the physics of the ball…
This paper presents a data driven universal ball trajectory prediction method integrated with physics equations. Existing methods are designed for specific ball types and struggle to generalize. This challenge arises from three key factors.…
We consider a mechanical system consisting of an infinite rod (a straight line) and a ball (a massless point) on the plane. The rod rotates uniformly around one of its points. The ball is reflected elastically when colliding with the rod…
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…
Hybrid systems are characterized by the hybrid evolution of their state: A part of the state changes discretely, the other part changes continuously over time. Typically, modern control applications belong to this class of systems, where a…
We propose a method of classifying the operation of a system into finitely many modes. Each mode has its own objectives for the system's behaviour and its own mathematical models and algorithms designed to accomplish its objectives. A…
The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller…
In this paper, we discuss our recent works on the null-controllability, the exact controllability, and the stabilization of linear hyperbolic systems in one dimensional space using boundary controls on one side for the optimal time. Under…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…