An analytical diabolo model for robotic learning and control
Felix von Drigalski Devwrat Joshi Takayuki Murooka Kazutoshi Tanaka Masashi Hamaya Yoshihisa Ijiri Felix von Drigalski Devwrat Joshi Takayuki Murooka Kazutoshi Tanaka Masashi Hamaya Yoshihisa Ijiri
In this paper, we present a diabolo model that can be used for training agents in simulation to play diabolo, as well as running it on a real dual robot arm system. We first derive an analytical model of the diabolo-string system and compare its accuracy using data recorded via motion capture, which we release as a public dataset of skilled play with diabolos of different dynamics. We show that ou...