Departmental Papers (ESE)


This article develops a formalism for describing and analyzing a very simple representative class of robotic tasks that require "dynamical dexterity" - among them, the task of juggling. The authors review their empirical success, to date, with a new class of control algorithms for this task domain, called "mirror algorithms." The formalism for representing the task domain and encoding within it the desired robot behavior enables them to prove that a suitable mirror algorithm is correct with respect to a specified task.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

February 1990


Copyright 1990 IEEE. Reprinted from IEEE Control Systems Magazine, Volume 10, Issue 2, February 1990, pages 16-22.

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NOTE: At the time of publication, the author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.



Date Posted: 03 April 2008

This document has been peer reviewed.