Development of street performance robot “SOMENOSUKE”

Author

Katoh, Kenichi ; Hirata, Kentaro ; Mizuno, Takashi ; Yamada, Kohei

Author_Institution

Dept. of Control Eng., Matsue Nat. Coll. of Technol., Matsue, Japan

fYear

2009

fDate

3-5 Nov. 2009

Firstpage

2211

Lastpage

2216

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.

Keywords

H^?? control; control system synthesis; feedback; manipulators; robust control; sampled data systems; uncertain systems; Japanese traditional juggling; KUWAEBACHI; SOMENOSUKE; USB camera; feedback controller design; robust stabilization; rotating arm; sampled-data H^∞ control theory; street performance robot; visual feedback control; visual sensing system;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE

Conference_Location

Porto

ISSN

1553-572X

Print_ISBN

978-1-4244-4648-3

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2009.5415157

Filename

5415157