Departmental Papers (ESE)

Document Type

Conference Paper

Date of this Version

May 1993

Comments

Copyright 1993 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, 1993, pages 919-924.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

Abstract

We report on our recently achieved spatial two-juggle: the ability to bat two freely falling balls into stable periodic vertical trajectories with a single three degree of freedom robot arm using a real-time stereo camera system for sensory input. After a brief review of the previously reported one-juggle, we describe our initial approach to the two-juggle planning and control problem. We have developed a number of important refinements to our initial strategy in the course of getting the system to work, and these are reported in some detail. The paper concludes with a discussion of some data from typical two-juggle runs in the laboratory.

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Date Posted: 06 June 2008

This document has been peer reviewed.