研究混合抛高杂耍模式，实现3-9球的高效动态控制。
Beyond the Cascade: Juggling Vanilla Siteswap Patterns
- 基于经典杂耍记谱法，设计抛高序列规划器与末端轨迹约束。
- 成功模拟实现3-9球、高度2-9的主流杂耍模式及随机切换。
- 适用于需要复杂动态运动控制的研究者，如机器人操控与动作生成。
动态运动在人类运动行为中广泛存在，相比静态动作具有更高的效率和更广的技能适应性。在常被研究的动态操作问题中，机器人杂耍任务因其可任意调节难度而尤为突出。本研究探索了采用经典杂耍记谱法（vanilla siteswap）描述的混合抛高杂耍模式，需扩展此前对简单交叉杂耍（cascade）分析的框架，引入抛高序列规划器与末端执行器轨迹约束。这些在交叉模式中并非必需，但对实现多抛高模式至关重要。通过仿真环境，我们成功实现了大多数常见的3-9球siteswap模式，最高可达9球高度，支持不同模式间的转换以及覆盖所有可能的2-9球高度的随机序列。
原文摘要 · Abstract (English)
Being widespread in human motor behavior, dynamic movements demonstrate higher efficiency and greater capacity to address a broader range of skill domains compared to their quasi-static counterparts. Among the frequently studied dynamic manipulation problems, robotic juggling tasks stand out due to their inherent ability to scale their difficulty levels to arbitrary extents, making them an excellent subject for investigation. In this study, we explore juggling patterns with mixed throw heights, following the vanilla siteswap juggling notation, which jugglers widely adopted to describe toss juggling patterns. This requires extending our previous analysis of the simpler cascade juggling task by a throw-height sequence planner and further constraints on the end effector trajectory. These are not necessary for cascade patterns but are vital to achieving patterns with mixed throw heights. Using a simulated environment, we demonstrate successful juggling of most common 3-9 ball siteswap patterns up to 9 ball height, transitions between these patterns, and random sequences covering all possible vanilla siteswap patterns with throws between 2 and 9 ball height. https://kai-ploeger.com/beyond-cascades
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