TY - GEN
T1 - Ball dribbling with an underactuated continuous-time control phase
AU - Mettin, Uwe
AU - Shiriaev, Anton S.
AU - Bätz, Georg
AU - Wollherr, Dirk
PY - 2010
Y1 - 2010
N2 - Ball dribbling is a central element of basketball. One main challenge for realizing basketball robots is to stabilize periodic motions of the ball. This task is nontrivial due to the discrete-continuous nature of the corresponding dynamics. The ball can be only controlled during ball-manipulator contact and moves freely otherwise. We propose a manipulator equipped with a spring that gets compressed when the ball bounces against it. Hence, we can have continuous-time control over this underactuated Ball-Spring-Manipulator system until the spring releases its accumulated energy back to the ball. This paper illustrates a systematic way of planning such a modified dribbling motion, computing an analytical transverse linearization and achieving orbital stabilization.
AB - Ball dribbling is a central element of basketball. One main challenge for realizing basketball robots is to stabilize periodic motions of the ball. This task is nontrivial due to the discrete-continuous nature of the corresponding dynamics. The ball can be only controlled during ball-manipulator contact and moves freely otherwise. We propose a manipulator equipped with a spring that gets compressed when the ball bounces against it. Hence, we can have continuous-time control over this underactuated Ball-Spring-Manipulator system until the spring releases its accumulated energy back to the ball. This paper illustrates a systematic way of planning such a modified dribbling motion, computing an analytical transverse linearization and achieving orbital stabilization.
KW - Motion planning
KW - Orbital stabilization
KW - Underactuated mechanical systems
KW - Virtual holonomic constraints
UR - http://www.scopus.com/inward/record.url?scp=77955788281&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509901
DO - 10.1109/ROBOT.2010.5509901
M3 - Conference contribution
AN - SCOPUS:77955788281
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4669
EP - 4674
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -