Realization of yoyo operation called long-sleeper by robot arms

This study aims to realize highly-skilled human motions by robot arms, and yoyo operations are considered as one of the motions. This paper tries to realize a fundamental sequential yoyo operation called “long-sleeper”, throwing a yoyo down, idling, and pulling back. A servo controller is necessary to let the robot arm track desired trajectory. To design the servo controller, mathematical models of the yoyo and the robot arm are derived by Projection method, and the servo controller is given by consisting of a coordinate transformation and linear feedback control. The effectiveness of the proposed model and control system is verified through numerical simulations. As a result, the long-sleeper is realized by the arm robot.