Posture angle manipulation of passive object using active plate

This paper proposes a scheme for manipulating the posture angle of a passive object using an active plate. The scheme was evaluated on a rigid spherical object called a tumble doll. During the test, the object and active plate were subjected to cyclic movements. The object angle and angular velocity were combined into a state vector, and the cyclic motion was expressed as a nonlinear discrete system. Fixed points of the state vector are searched for in the designed cyclic motion. The stabilities of the fixed points of the state vector were evaluated in a Poincaré map. The fixed points were verified as asymptotically stable. In dynamic simulations, the proposed method successfully guided the object´s posture angle into the desired cyclic motions.