Development of street performance robot "SOMENOSUKE"

Kenichi Katoh; Kentaro Hirata; Takashi Mizuno; Kohei Yamada

doi:10.1109/IECON.2009.5415157

Development of street performance robot "SOMENOSUKE"

Kenichi Katoh, Kentaro Hirata, Takashi Mizuno, Kohei Yamada

Research output: Contribution to conference › Paper › peer-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 language	English
Pages	2211-2216
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415157
Publication status	Published - Dec 1 2009
Externally published	Yes
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: Nov 3 2009 → Nov 5 2009

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country/Territory	Portugal
City	Porto
Period	11/3/09 → 11/5/09

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2009.5415157

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Development of street performance robot "SOMENOSUKE"

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