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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.08085 |
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| _version_ | 1866908731566981120 |
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| author | Khandelwal, Aakash Mukherjee, Ranjan |
| author_facet | Khandelwal, Aakash Mukherjee, Ranjan |
| contents | Planar juggling of a devil-stick using impulsive inputs is addressed using the concept of discrete virtual holonomic constraints (DVHC). The location of the center-of-mass of the devil-stick is specified in terms of its orientation at the discrete instants when impulsive control inputs are applied. The discrete zero dynamics (DZD) resulting from the choice of DVHC provides conditions for stable juggling. A control design that enforces the DVHC and an orbit stabilizing controller are presented. The approach is validated in simulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_08085 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Planar Juggling of a Devil-Stick using Discrete VHCs Khandelwal, Aakash Mukherjee, Ranjan Systems and Control Robotics Planar juggling of a devil-stick using impulsive inputs is addressed using the concept of discrete virtual holonomic constraints (DVHC). The location of the center-of-mass of the devil-stick is specified in terms of its orientation at the discrete instants when impulsive control inputs are applied. The discrete zero dynamics (DZD) resulting from the choice of DVHC provides conditions for stable juggling. A control design that enforces the DVHC and an orbit stabilizing controller are presented. The approach is validated in simulation. |
| title | Planar Juggling of a Devil-Stick using Discrete VHCs |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2509.08085 |