Propeller Motion of a Devil-Stick using Normal Forcing
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866911432614871040 |
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| author | Khandelwal, Aakash Mukherjee, Ranjan |
| author_facet | Khandelwal, Aakash Mukherjee, Ranjan |
| contents | The problem of realizing rotary propeller motion of a devil-stick in the vertical plane using forces purely normal to the stick is considered. This problem represents a nonprehensile manipulation task of an underactuated system. In contrast with previous approaches, the devil-stick is manipulated by controlling the normal force and its point of application. Virtual holonomic constraints are used to design the trajectory of the center-of-mass of the devil-stick in terms of its orientation angle, and conditions for stable propeller motion are derived. Intermittent large-amplitude forces are used to asymptotically stabilize a desired propeller motion. Simulations demonstrate the efficacy of the approach in realizing stable propeller motion without loss of contact between the actuator and devil-stick. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_17789 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Propeller Motion of a Devil-Stick using Normal Forcing Khandelwal, Aakash Mukherjee, Ranjan Systems and Control Robotics The problem of realizing rotary propeller motion of a devil-stick in the vertical plane using forces purely normal to the stick is considered. This problem represents a nonprehensile manipulation task of an underactuated system. In contrast with previous approaches, the devil-stick is manipulated by controlling the normal force and its point of application. Virtual holonomic constraints are used to design the trajectory of the center-of-mass of the devil-stick in terms of its orientation angle, and conditions for stable propeller motion are derived. Intermittent large-amplitude forces are used to asymptotically stabilize a desired propeller motion. Simulations demonstrate the efficacy of the approach in realizing stable propeller motion without loss of contact between the actuator and devil-stick. |
| title | Propeller Motion of a Devil-Stick using Normal Forcing |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2501.17789 |