Modeling and Control of Dynamic Yoyo with Pulling Back Motion

Abstract

It is a challenging problem to consider the way to make a robot play a yoyo. In this paper, taking into account its axis and string, the yoyo is modeled as three models, i.e. down motion, sleep motion and up motion, on the two-dimension plane. An energy based control method is also proposed. The models and control methods are evaluated through numerical simulations.