Modeling and control for realization of forward-pass yoyo operation by robot arm

This study aims to realize a fundamental yoyo trick called “forward pass” which is the a sequence actions: throwing out a yoyo, operating it in an arc from bottom up, and pulling it back by a robot arm. To realize the forward pass operation, a robot arm which can grab and throw a yoyo is developed, and the arm motion for the forward pass operation is designed through numerical simulations. The effectiveness of the developed robot arm and the proposed arm motion are to realize the forward pass. As a result, the success condition of the forward pass operation is described by arm angles and speed at release points.