Abstract:
We are in the development boom of high quality performance robotic platforms that emulate human activities that require skills or exhaustive training. Here, we find juggling machines that are used not only to replicate the human role, but also to study systems with oscillator behavior, multi-agent interaction, and coordination between physical and computational elements. Based on this, a juggling model based on hybrid systems and energy shaping is proposed, which resembles in a high degree the performance of the physical process. Due to its definition, it allows to interconnect multiple systems and interact to achieve synchronization with different communication topologies. In addition, a juggler physical platform has been developed and implemented to evaluate the model designed. This development allows arranging different interaction configurations, where jugglers simulated in a computer interact with physical platforms, which trajectory reference is also computer-based. All these elements are presented in a thorough manner as a cyber-physical system
