Realization of yoyo operation called long-sleeper by robot arms

Nemoto, Takuma; Sakuma, Tomoyuki; Iwase, Masami; Hatakeyama, S.

doi:10.1109/iecon.2011.6119322

Cited by 5 publications

(4 citation statements)

References 7 publications

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“…Assuming that a system is constituted of independent parts and they are connected by constraint conditions, the projection method yields a whole motion equation from their independent motion equations and their constraint conditions. The integrated motion equation is derived by integrating the parallel link arm and the yoyo as subsystems after each derivation of their motion equations [17,18,19]. This method has the advantage that such local systems as the arm and the yoyo can be modified easily.…”

Section: Modeling the Integrated System Of The Arm And The Yoyomentioning

confidence: 99%

“…Here (x c ,ỹ c ) andθ y are transformed into r c and θ y , respectively. Given that transformed generalized coordinates x y are A velocity transformation matrix A y which should satisfyẋ y = A yẋy can thus be given by substituting (17) into (10) as…”

Section: The Yoyo Modelmentioning

confidence: 99%

“…To achieve the gravity-pull, consideration of the mutual interference between a robot and the yoyo and controller design based on their dynamics are required. For such issues, an integrated model of a robot arm and a yoyo is developed in our previous studies [17,18,19]. The gravity-pull, moreover, has been achieved on simulations by designing a controller which can compensate the energy loss with its motion, based only on a yoyo model [20,21].…”

Section: Introductionmentioning

confidence: 99%

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Control of robotic yoyo with energy compensation based on an integrated model of a robot and a yoyo

Nemoto

Noguchi

Miyakawa

et al. 2015

JASSE

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This paper presents an approach to control a periodic up-and-down yoyo motion with a robot arm which has a parallel link mechanism. For controlling it, an integrated model of the robot arm and the yoyo is developed which describes their mutual interference, and a controller which can compensate energy loss with the yoyo motion is designed based on the integrated model. The effectiveness of the proposed controller is verified through a numerical simulation. Its results show that the robot arm attains the continuous up-and-down yoyo motion and the trajectories of the rotation and the up-and-down motion are periodic. The proposed approach is effective in controlling the periodic up-and-down yoyo motion in conclusion.

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Section: Modeling the Integrated System Of The Arm And The Yoyomentioning

confidence: 99%

Section: The Yoyo Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Control of robotic yoyo with energy compensation based on an integrated model of a robot and a yoyo

Nemoto

Noguchi

Miyakawa

et al. 2015

JASSE

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“…Applying this yoyo, the authors have derived the yoyo model including friction and the robot arm model and proposed the hand trajectory of the yoyo trick called "long-sleeper" by reference to the human motion. And the trick have been realized by making the robot arm track the proposed trajectory [6]. The long-sleeper is the basic trick which consists of throwing the yoyo down, idling, and pulling it up.…”

Section: Introductionmentioning

confidence: 99%

Control system design for robot arms playing inside-loop yoyo trick

Sakuma

Nemoto

Iwase

et al. 2012

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

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This study aims to realize a dexterous yoyo trick called "inside-loop" by a robot. In the inside-loop, a yoyo is thrown in an arc from the bottom to the front, passed between the arm and the body, accelerated by quick twisting of the wrist and thrown again to the front. Therefore, the yoyo loops around the hand. To realize this trick, the yoyo model including pulling the yoyo up by taking up the slack string, which is similar to the real behavior, is derived. A reference of a position of the hand is decided by simulations patterned on a human motion, and a controller solves discrete-time optimal control problems every control period. These are verified through numerical simulations.As a result, the inside-loop is realized by the robot.

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A yoyo trick realized by parallel-link manipulator

Noguchi

Iwase

Hatakeyama

et al. 2013

IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society

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This study aims to realize a yo-yo trick by a robot. Yoyo tricks are highly-skilled human motions. In this paper, we tries to realize a yo-yo trick called "Long-Sleeper" by a manipulator. The manipulator has parallel link mechanism. To realize the long-sleeper, the yo-yo and the manipulator models are derived and a controller letting the manipulator track a desired trajectory. The effectiveness of the proposed model and the controller are verified through numerical simulations and experimentations. As a result, the long-Sleeper is realized by the manipulator.

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Realization of yoyo operation called long-sleeper by robot arms

Cited by 5 publications

References 7 publications

Control of robotic yoyo with energy compensation based on an integrated model of a robot and a yoyo

Control of robotic yoyo with energy compensation based on an integrated model of a robot and a yoyo

Control system design for robot arms playing inside-loop yoyo trick

A yoyo trick realized by parallel-link manipulator

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