CUED Publications database

Sensorless stabilization of bounce juggling

Ronsse, R and Lefevre, P and Sepulchre, R (2006) Sensorless stabilization of bounce juggling. IEEE Transactions on Robotics, 22. pp. 147-159. ISSN 1552-3098

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Abstract

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. © 2006 IEEE.

Item Type: Article
Uncontrolled Keywords: Billiard Discrete time Feedback Impact control Juggling Rythm Sensorless Stabilization
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:28
Last Modified: 08 Dec 2014 02:24
DOI: 10.1109/TRO.2005.858860