Contact Juggling of a Disk with a Disk-Shaped Manipulator

Ji Chul Ryu*, Kevin M. Lynch

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


In this paper, we present a feedback controller that enables contact juggling manipulation of a disk with a disk-shaped manipulator, called the mobile disk-on-disk. The system consists of two disks in which the upper disk (object) is free to roll on the lower disk (hand) under the influence of gravity. The hand moves with a full three degrees of freedom in a vertical plane. The proposed controller drives the object to follow a desired trajectory through rolling interaction with the hand. Based on the mathematical model of the system, dynamic feedback linearization is used in the design of the controller. The performance of the controller is demonstrated through simulations considering disturbances and uncertainties.

Original languageEnglish (US)
Article number8490654
Pages (from-to)60286-60293
Number of pages8
JournalIEEE Access
StatePublished - 2018


  • Dynamic feedback linearization
  • contact juggling
  • nonprehensile manipulation
  • rolling manipulation

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

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