Modeling and control of robotic yoyo with visual feedback

Koichi Hashimoto, Toshiro Noritsugu

Research output: Contribution to journalConference articlepeer-review

46 Citations (Scopus)


Yoyo is a toy made of two thick circular pieces of wood, plastic, etc., connected with a short axle that can be made to run up and down by moving a string tied to it. Humans can play with a yoyo without difficulty. However, developing a robot system that can play with a yoyo presents a significant challenge to controller design, because the dynamics of the yoyo are difficult to model precisely. Moreover, since the dynamics are not continuous and there are integral-type constraints on the hand trajectory, conventional continuous time feedback control theory does not work well. This paper presents a model and a control scheme for robotic yoyo with visual feedback. Experiments on a PUMA 560 are carried out to evaluate the validity of the discrete time formulation and the controller design.

Original languageEnglish
Pages (from-to)2650-2655
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996 Jan 1
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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