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ICRA
2010
IEEE

HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control

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HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control
— Yoyo playing may seem easy for a human, but it is a challenging problem for a humanoid robot. This paper presents an approach to generate yoyo motions for the humanoid robot, HRP-2, based on motion recorded from human yoyo playing, dynamical models and numerical optimal control techniques. We recorded vertical yoyo playing of 4 subjects measuring yoyo height and rotation angle as well as the corresponding hand motions. A detailed multi-phase yoyo model with impact collisions and control patterns of human yoyo playing were identified from these measurements. Based on this knowledge, reliable yoyo motions within the feasibility ranges of HRP-2 were generated using optimal control. The resulting motions have been implemented on the robot using open-loop and event-based quasi open-loop control strategies.
Katja Mombaur, Manish N. Sreenivasa
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Katja Mombaur, Manish N. Sreenivasa
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