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Laurent PRALY
VIDEOS
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2kπ, The juggling robot
The 2kπ robot, developed at CAS Paris-Tech, has five degrees of
freedom: actuation1 (mkv)
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3 actuated angles for the manipulator
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2 non-actuated angles for the pendulum:
What a human can do:
human (mkv)
Flatness based approach.
up and down (mkv)
equilibrium (mkv)
looping (mkv)
radiesthesist pendulum (mkv)
Reference:
Y. Lenoir, Ph. Martin, P. Rouchon
2k-pi, the juggling robot.
In Proc. of Control and Decision Conference, Tampa, pages 1995--2000, 1998.
Forwarding based approach.
up and down (avi)
up and down with a looping (avi)
oscillations in a plane (mkv)
Reference:
X. Albouy, L. Praly,
On the use of dynamic invariants and forwarding
for swinging up a spheric inverted pendulum.
Proceedings of the 39th IEEE Conference on Decision and Control, December
2000.