# An analytical diabolo model for robotic learning and control

arXiv: https://arxiv.org/abs/2011.09068 · HTML: https://mlsanity.com/paper/2011.09068/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Nov 2020.

## Built on by (most cited first, 3 of 3)

- [Fast Kinodynamic Planning on the Constraint Manifold with Deep Neural Networks](https://mlsanity.com/paper/2301.04330/) (2023)
- [Bridging the gap between Learning-to-plan, Motion Primitives and Safe Reinforcement Learning](https://mlsanity.com/paper/2408.14063/) (2024)
- [A Retrospective on the Robot Air Hockey Challenge: Benchmarking Robust, Reliable, and Safe Learning Techniques for Real-world Robotics](https://mlsanity.com/paper/2411.05718/) (2024)

## Abstract (arXiv)

In this paper, we present a diabolo model that can be used for training agents in simulation to play diabolo, as well as running it on a real dual robot arm system. We first derive an analytical model of the diabolo-string system and compare its accuracy using data recorded via motion capture, which we release as a public dataset of skilled play with diabolos of different dynamics. We show that our model outperforms a deep-learning-based predictor, both in terms of precision and physically consistent behavior. Next, we describe a method based on optimal control to generate robot trajectories that produce the desired diabolo trajectory, as well as a system to transform higher-level actions into robot motions. Finally, we test our method on a real robot system by playing the diabolo, and throwing it to and catching it from a human player.