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...