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  • 【PDF】Nonlinear optimal control for robotic yoyo playing

    Key words: robotic yoyo; return map; reference trajectory; optimal control 1 Introduction Yoyo playing represents a class of periodical unstable dynamic

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    May 3-8, 2010, Anchorage, Alaska, USA HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control Katja Mombaur and Manish N