Sensorless stabilization of bounce juggling

Ronsse, R.; Lefevre, Philippe; Sepulchre, Rodolphe

doi:10.1109/TRO.2005.858860

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Sensorless stabilization of bounce juggling

Ronsse, R.; Lefevre, Philippe; Sepulchre, Rodolphe

2006 • In IEEE Transactions on Robotics, 22 (1), p. 147-159

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https://hdl.handle.net/2268/33349

DOI
10.1109/TRO.2005.858860

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Keywords :

billiard; discrete time; feedback; impact control; juggling; rhythm; sensorless; stabilization

Abstract :

[en] The paper studies the properties of a sinusoidally vibrating wedge billiard as a model for 2-D bounce juggling. It is shown that some periodic orbits that are unstable in the elastic fixed wedge become exponentially stable in the nonelastic vibrating wedge. These orbits are linked with certain classical juggling patterns, providing an interesting benchmark for the study of the frequency-locking properties in human rhythmic tasks. Experimental results on sensorless stabilization of juggling patterns are described.

Disciplines :

Computer science

Author, co-author :

Ronsse, R.

Lefevre, Philippe; Université Catholique de Louvain - UCL > INMA

Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation

Language :

English

Title :

Sensorless stabilization of bounce juggling

Publication date :

February 2006

Journal title :

IEEE Transactions on Robotics

ISSN :

1552-3098

Publisher :

Ieee-Inst Electrical Electronics Engineers Inc, Piscataway, United States - New Jersey

Volume :

Issue :

Pages :

147-159

Peer reviewed :

Peer Reviewed verified by ORBi

Available on ORBi :

since 22 December 2009

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Bibliography

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