Departmental Papers (ESE)


Recent results of dynamical systems theory are used to derive strong predictions concerning the global properties of a simplified model of a planar juggling robot. In particular, it is found that certain lower-order local (linearized) stability properties determine the essential global (nonlinear) stability properties, and that successive increments in the controller gain settings give rise to a cascade of stable period-doubling bifurcations that comprise a universal route to chaos. The theoretical predictions are verified by simulation and corroborated by experimental data from the juggling robot.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

May 1990


Copyright 1990 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, 1990, pages 1976-1981.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. 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.