Departmental Papers (ESE)


In previous papers we have reported successful laboratory implementations of a family of juggling algorithms. In all but the one degree of freedom case, these empirically successful algorithms have so far resisted our analytical efforts to explain why they work. This is in large measure a consequence of our inability to write down using elementary functions an expression for the closed loop dynamics they induce. We discuss in this paper a modified juggling algorithm whose resulting closed loop dynamics can be written down directly. We offer data establishing the empirical success of the new algorithm. Theoretical analysis of the closed loop dynamics is presently in progress.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

May 1994


Copyright 1994 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 4, 1994, pages 2935-2940.

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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.



Date Posted: 04 June 2008

This document has been peer reviewed.