Development of street performance robot "SOMENOSUKE"

Kenichi Katoh, Kentaro Hirata, Takashi Mizuno, Kohei Yamada

Research output: Contribution to conferencePaperpeer-review


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
Number of pages6
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


Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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