{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/an-analytical-diabolo-model-for-robotic","title":"An analytical diabolo model for robotic learning and control","arxiv_id":"2011.09068","date":"2020-11-18","proceeding":null,"authors":["Felix von Drigalski","Devwrat Joshi","Takayuki Murooka","Kazutoshi Tanaka","Masashi Hamaya","Yoshihisa Ijiri"],"abstract":"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 our model outperforms a deep-learning-based predictor, both in terms of precision and physically consistent behavior. Next, we describe a method based on optimal control to generate robot trajectories that produce the desired diabolo trajectory, as well as a system to transform higher-level actions into robot motions. Finally, we test our method on a real robot system by playing the diabolo, and throwing it to and catching it from a human player.","url_abs":"https://arxiv.org/abs/2011.09068v1","url_pdf":"https://arxiv.org/pdf/2011.09068v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"an-analytical-diabolo-model-for-robotic","repo_url":"https://github.com/omron-sinicx/diabolo","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"unanswered"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2011.09068","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}