Kendama game by casting manipulator

In this paper, we present a method to control Kendama by casting manipulation. Casting manipulation is a technique to control an end-effector in the air by throwing the end-effector and controlling its ballistic flight using impulsive forces transmitted through a light string connected to the end-effector itself. First, we examine dynamic characteristics of a flexible string against impulsive force. We propose a method of identifying the viscoelastic model parameters of the string through free-fall experiments. Then the technique of braking the string is applied to the trajectory control with consideration of the time delay and slip of the brake. We conduct the rebound experiments by the braking technique to confirm its effectiveness. We analyse the work space where the suitable motion of end-effector for Kendama game is generated by multiple braking. Kendama game, motion of making the perforated ball impaled on the stick, is demonstrated by casting manipulator hardware.