Robotic Juggling


In this study, we have realized a propeller motion of a flower stick, that is a juggling task to keep cyclic rotation of the stick in the air by a hand stick, using a robotic arm. Through this kind of research to realize skillful and high-speed motion of human with a robot system, we are conducting research and development of high-speed dynamic manipulation technology which exceeds the performance of human or conventional robots.


  • 青山忠義, 高木健, 三浦拓実, 石井抱: "運動学的拘束条件のみを考慮したフラワースティックの回転操作", 日本ロボット学会誌, Vol. 35, No. 3, pp. 86-94, 2017
  • T. Aoyama, T. Takaki, Q. Gu, and I. Ishii: "Control Scheme of Nongrasping Manipulation Based on Virtual Connecting Constraint", IEEE International Conference on Robotics and Automation (ICRA), pp. 3819-3824, 2016.
  • T. Aoyama, T. Takaki, T. Miura, Q. Gu, and I. Ishii: "Realization of Flower Stick Rotation Using Robotic Arm", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.5648-5653, 2015.