Ball dribbling with an underactuated continuous-time control phase
2010 (English)In: 2010 IEEE International Conference on Robotics and Automation (ICRA), 2010, 4669-4674 p.Conference paper (Refereed)
Ball dribbling is a central element of basketball. One main challenge for realizing basketball robots is to stabilize periodic motions of the ball. This task is nontrivial due to the hybrid (discrete-continuous) nature of the corresponding dynamics. The ball can be only controlled during ball-manipulator contact and moves freely otherwise. We propose a manipulator equipped with a spring that gets compressed when the ball bounces against it. Hence, we can have continuous-time control over this underactuated Ball-Spring-Manipulator system until the spring releases its accumulated energy back to the ball. This paper illustrates the motion-planning procedure for a ball-dribbling cycle with such an underactutated continuous-time control phase. An orbital stabilizing controller is designed based on a transverse linearization along a desired periodic motion. Numerical simulations show the performance of the control system in preparation to experimental studies.
Place, publisher, year, edition, pages
2010. 4669-4674 p.
Underactuated Mechanical Systems, Motion Planning, Orbital Stabilization, Virtual Holonomic Constraints
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject Automatic Control
IdentifiersURN: urn:nbn:se:umu:diva-30250DOI: 10.1109/ROBOT.2010.5509901ISI: 000284150005021OAI: oai:DiVA.org:umu-30250DiVA: diva2:281186
IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, MAY 03-08, 2010
The paper is submitted.2009-12-142009-12-142015-10-12Bibliographically approved