Related papers: Propeller Motion of a Devil-Stick using Normal For…
The control problem of realizing propeller motion of a devil-stick in the vertical plane using impulsive forces applied normal to the stick is considered. This problem is an example of underactuated robotic juggling and has not been…
Juggling a devil-stick can be described as a problem of non-prehensile manipulation. Assuming that the devil-stick remains confined to the vertical plane, the problem of juggling the stick between two symmetric configurations is considered.…
Planar juggling of a devil-stick using impulsive inputs is addressed using the concept of discrete virtual holonomic constraints (DVHC). The location of the center-of-mass of the devil-stick is specified in terms of its orientation at the…
The problem of nonprehensile manipulation of a stick in three-dimensional space using intermittent impulsive forces is considered. The objective is to juggle the stick between a sequence of configurations that are rotationally symmetric…
The counter-intuitive rotational motion of the propeller of a devil's stick when the agitator is rubbed against the pylon has long intrigued performers, audiences and scientists. The apparently unrelated phenomenon of self-stabilization of…
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a closed orbit on the constraint manifold. This problem, which…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
We numerically study a simple sliding system: a rigid mass pulled by a spring with a strong in-plane stiffness anisotropy and a small misalignment angle. Simulations show that the apparent stick phase appearing in this system is in reality…
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is…
The dynamics of a rotating elastic filament is investigated using Stokesian simulations. The filament, straight and tilted with respect to its rotation axis for small driving torques, undergoes at a critical torque a strongly discontinuous…
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…
An optimal control problem for longitudinal motions of a thin elastic rod is considered. We suppose that a normal force, which changes piecewise constantly along the rod's length, is applied to the cross-section so that the positions of…
Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though affordable, are restricted to basic tasks like pick-and-place.…
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…
Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…
In inertial microfluidics lift forces cause a particle to migrate across streamlines to specific positions in the cross section of a microchannel. We control the rotational motion of a particle and demonstrate that this allows to manipulate…
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
The restricted three-vortex problem is investigated with one of the point vortices fixed in the plane. The motion of the free vortex having zero circulation is explored from a rotating frame of reference within which the free vortex with…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…