  Rhythmic feedback control of a blind planar juggler; ; Sepulchre, Rodolphe  in IEEE Transactions on Robotics (2007), 23(4), 790-802 The paper considers the feedback stabilization of periodic orbits in a planar juggler. The juggler is "blind," i.e, he has no other sensing capabilities than the detection of impact times. The robustness ... [more ▼] The paper considers the feedback stabilization of periodic orbits in a planar juggler. The juggler is "blind," i.e, he has no other sensing capabilities than the detection of impact times. The robustness analysis of the proposed control suggests that the arms acceleration at impact is a crucial design parameter even though it plays no role in the stability analysis. Analytical results and convergence proofs are provided for a simplified model of the juggler. The control law is then adapted to a more accurate model and validated in an experimental setup. [less ▲] Detailed reference viewed: 25 (7 ULg)Sensorless stabilization of bounce juggling; ; Sepulchre, Rodolphe in IEEE Transactions on Robotics (2006), 22(1), 147-159 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 ... [more ▼] 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. [less ▲] Detailed reference viewed: 19 (4 ULg) |
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