Robotic yoyo playing with visual feedback
Robotic yoyo playing with visual feedback
复制标题
玩视觉反馈的机器人悠悠球
DOI：
10.1109/tro.2004.829478
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发表时间：
2004
影响因子：
7.8
通讯作者：
M. Zacksenhouse
中科院分区：
文献类型：
--
作者：
Huiliang Jin;M. Zacksenhouse
机器人玩溜溜球是一种具有挑战性的、开环的不稳定游戏，需要动态的灵巧性来稳定。本文提出的开关控制策略通过确定何时开始激活悠悠球来稳定悠悠球。使用由视觉反馈提供的连续状态估计和先前开发的动态模型，提出并演示了一种直接的实现。分析了与原连续系统相关联的离散返回映射，并证明了其具有单个物理相关不动点。理论分析表明，只要保证加速度大小的控制参数维持在一定水平之上，就可以保证其不动点的稳定性.在一个实时机器人悠悠球游戏系统上，验证了所提控制算法的稳定性.实验结果验证了关于返回映射不动点的理论预测，为我们的建模和分析提供了进一步的支持。
Robotic yoyo playing is a challenging, open-loop unstable game, which requires dynamic dexterity to stabilize. The switching control strategy proposed here stabilizes the yoyo by determining when to start its activation. A straightforward implementation is presented and demonstrated, using continuous state estimation provided by visual feedback and the previously developed dynamic model. The discrete return map associated with the original continuous system is analyzed and shown to possess a single physically relevant fixed point. Stability is guaranteed as long as the control parameter, which determines the magnitude of the acceleration, is above a certain level. The stabilizing power of the proposed control algorithm is successfully demonstrated on a real-time robotic yoyo playing system. Theoretical predictions regarding the fixed point of the return map are confirmed experimentally, providing further support for our modeling and analysis.