Development of street performance robot "SOMENOSUKE"

Kenichi Katoh, Kentaro Hirata, Takashi Mizuno, Kohei Yamada

Research output: Contribution to conferencePaperpeer-review

Abstract

This paper reports the development of a street performance robot "SOMENOSUKE" which mimics Japanese traditional juggling "KUWAEBACHI". In this performance, an entertainer holds a drumstick in his/her mouth and then balances an object such as a ball or a teapot on it with great concentration. By considering this trick as a kind of visual feedback control by humans, we develop a robot having a rotating arm with a USB camera. To compensate the delay and the low sampling rate in the visual sensing system, we design a feedback controller based on the sampled-data H∞ control theory. By considering the addition of blocks as the uncertainty, we achieve the robust stabilization. The performance of our robot is illustrated with experimental data.

Original languageEnglish
Pages2211-2216
Number of pages6
DOIs
Publication statusPublished - Dec 1 2009
Externally publishedYes
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: Nov 3 2009Nov 5 2009

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period11/3/0911/5/09

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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