Planar Juggling of a Devil-Stick using Discrete VHCs
Systems and Control
2025-12-29 v2 Robotics
Systems and Control
Abstract
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 discrete instants when impulsive control inputs are applied. The discrete zero dynamics (DZD) resulting from the choice of DVHC provides conditions for stable juggling. A control design that enforces the DVHC and an orbit stabilizing controller are presented. The approach is validated in simulation.
Cite
@article{arxiv.2509.08085,
title = {Planar Juggling of a Devil-Stick using Discrete VHCs},
author = {Aakash Khandelwal and Ranjan Mukherjee},
journal= {arXiv preprint arXiv:2509.08085},
year = {2025}
}
Comments
9 pages, 7 figures; this is an extended version of the article published in the IEEE Control Systems Letters