State Estimation of a Yoyo Based on a Model with Elasticity of a String

摘要

This paper presents an approach to estimate a state of a yoyo, as one of tools including a deformable component like a string, based on its detailed model. In the proposed approach, we model a yoyo describing the elasticity of its string with a tension provided by a spring-damper model and employ the unscented Kalman filter on the estimation. We design an estimator based on the approach and evaluate its performance through numerical simulations. The simulations results demonstrate the effectiveness of the proposed approach in conclusion.