Yoyo motion planning using inversion-based optimization

This paper presents a novel approach for control of the yoyo playing, using return map parameterization The return map is a scalar function that maps the initial amplitude of the yoyo and the parameter (an intermediate state of the yoyo) to the final amplitude. The optimization programs can be combi...

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Bibliographic Details
Main Authors: De-hu Yuan, Hui-Liang Jin
Format: Conference Proceeding
Language:English
Subjects:
Biomimetics
Computational modeling
Control systems
Dynamic programming
Mechanical engineering
Open loop systems
Optimal control
Robots
Spline
Stability
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Summary:This paper presents a novel approach for control of the yoyo playing, using return map parameterization The return map is a scalar function that maps the initial amplitude of the yoyo and the parameter (an intermediate state of the yoyo) to the final amplitude. The optimization programs can be combined with a standard one-degree zero-finding routine to search for an appropriate value of the parameter, such that the final amplitude equals a desired value. The proposed novel algorithm use inversion-based optimization technique for fast solution of the optimization problem, which can greatly reduce the computation time. Simulation on a single yoyo cycle shows the required computation time is about 10 milliseconds, so the software may be applicable to real-time control. The approach is promising as it may be extended to control of other similar systems.
DOI:10.1109/ROBIO.2009.5420480