Departmental Papers (ESE)


In the recent successful effort to achieve the spatial two-juggle - batting two freely falling balls into independent stable periodic vertical orbits by repeated impacts with a three degree of freedom robot arm, the authors have found it necessary to introduce a dynamical window manager into their real-time stereo vision. This paper describes these necessary enhancements to the original vision system and then proposes a more formal account of how such a feedback based sensor might be understood to work. Further experimentation will be required to determine the extent to which the analytical model explains (and might thus be used as a tool to improve) the performance of the system presently working in the laboratory.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

July 1993


Copyright 1993 IEEE. Reprinted from Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS '93, Volume 1, 1993, pages 123-130.

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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: 06 June 2008

This document has been peer reviewed.