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arXiv · 2501.17789

Propeller Motion of a Devil-Stick using Normal Forcing

Aakash Khandelwal·Ranjan Mukherjee
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Abstract

The problem of realizing rotary propeller motion of a devil-stick in the vertical plane using forces purely normal to the stick is considered. This problem represents a nonprehensile manipulation task of an underactuated system. In contrast with previous approaches, the devil-stick is manipulated by controlling the normal force and its point of application. Virtual holonomic constraints are used to design the trajectory of the center-of-mass of the devil-stick in terms of its orientation angle, and conditions for stable propeller motion are derived. Intermittent large-amplitude forces are used to asymptotically stabilize a desired propeller motion. Simulations demonstrate the efficacy of the approach in realizing stable propeller motion without loss of contact between the actuator and devil-stick.

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Aakash Khandelwal, Ranjan Mukherjee. 2025-01-29. Propeller Motion of a Devil-Stick using Normal Forcing. https://doi.org/10.1109/ccta53793.2025.11151419

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