Planning and Control of Robotic Juggling and Catching Tasks

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dc.bibliographic.citation@article{buehler-ijrr-1994, author = {M. Buehler and D. E. Koditschek and P. J. Kindlmann}, title = {Planning and Control of Robotic Juggling and Catching Tasks}, journal = {International Journal of Robotics Research}, year = {1994}, month = {April}, volume = {13}, number = {12}, pages = {101-118}, doi = {10.1177/027836499401300201} }
dc.contributor.authorBuehler, M.
dc.contributor.authorKoditschek, Daniel E
dc.contributor.authorKindlmann, P. J.
dc.date2023-05-17T09:23:47.000
dc.date.accessioned2023-05-22T19:11:07Z
dc.date.available2023-05-22T19:11:07Z
dc.date.issued1994-04-01
dc.date.submitted2014-08-21T07:33:34-07:00
dc.description.abstractA new class of control algorithms—the “mirror algorithms”— gives rise to experimentally observed juggling and catching behavior in a planar robotic mechanism. The simplest of these algorithms (on which all the others are founded) is provably correct with respect to a simplified model of the robot and its environment. This article briefly reviews the physical setup and underlying mathematical theory. It discusses two significant extensions of the fundamental algorithm to juggling two objects and catching. We provide data from successful empirical verifi cations of these control strategies and briefly speculate on the larger implications for the field of robotics. For more information: Kod*Lab
dc.description.comments“The final, definitive version of this article has been published in the Journal, International Journal of Robotics Research, 13/12, 1994, © SAGE Publications, Inc. or Society/Proprietor, 1994 by SAGE Publications, Inc. at the International Journal of Robotics Research page on SAGE Journals Online: http://online.sagepub.com/ NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan, Ann Arbor. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/33920
dc.legacy.articleid1750
dc.legacy.fieldstrue
dc.legacy.fields10.1177/027836499401300201
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1750&context=ese_papers&unstamped=1
dc.source.beginpage101
dc.source.endpage118
dc.source.issue691
dc.source.issue12
dc.source.journalDepartmental Papers (ESE)
dc.source.journaltitleInternational Journal of Robotics Research
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.source.volume13
dc.subject.otherGRASP
dc.subject.otherKodlab
dc.subject.otherElectrical and Computer Engineering
dc.subject.otherEngineering
dc.subject.otherSystems Engineering
dc.titlePlanning and Control of Robotic Juggling and Catching Tasks
dc.typeArticle
digcom.identifierese_papers/691
digcom.identifier.contextkey6013319
digcom.identifier.submissionpathese_papers/691
digcom.typearticle
dspace.entity.typePublication
relation.isAuthorOfPublicationb6e8657c-2331-43df-97c3-92e79f74a7be
relation.isAuthorOfPublication.latestForDiscoveryb6e8657c-2331-43df-97c3-92e79f74a7be
upenn.schoolDepartmentCenterDepartmental Papers (ESE)
upenn.schoolDepartmentCenterGeneral Robotics, Automation, Sensing and Perception Laboratory
upenn.schoolDepartmentCenterKod*lab
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