• 2kπ, The juggling robot

2kπ, The juggling robot

The 2kπ robot, developed at CAS Paris-Tech, has five degrees of freedom: actuation1 (mkv)
• 3 actuated angles for the manipulator
• 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.