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Imitating human acceleration of a gyroscopic device

Published online by Cambridge University Press:  26 February 2007

Andrej Gams,
Leon Žlajpah and
Jadran Lenarčič
Andrej Gams*
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia.
Leon Žlajpah
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia.
Jadran Lenarčič
Affiliation:
Robotics Laboratory, Jožef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia.
*
*Corresponding author. E-mail: andrej.gams@ijs.si
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Summary

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Spinning up a Power®ball—a hand-held gyroscopic toy or exerciser that exhibits rotor spin-up when applying appropriate torque to its casing—is a fairly easy task for a human but rather complex to perform with a robot. To accomplish the task of spinning up the rotor of the Power®ball with a robot, we measured the motion of a human and identified the conditions an individual uses for a successful spin-up. Several control approaches were applied to the device mainly using feedback information from the velocity counter and force/torque sensor to synchronize the torque exerted by the device and the motion of the robot. Best human imitation was achieved with two modified learning methods with highest rotor speeds in excess of 1480 rad/s, rating among top 100 world Power®ball players.

Keywords

Rhythmic motionSynchronizationGyroscopic deviceImitation

Information

Type
Article
Information
Robotica , Volume 25 , Issue 4 , July 2007, pp. 501 - 509
Copyright
Copyright © Cambridge University Press 2007

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