A One Degree of Freedom Juggler in a Two Degree of Freedom Environment
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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GRASP
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We develop a formalism for describing and analyzing a very simple representative of a class of robotic tasks which require "dynamical dexterity," among them the task of juggling. We introduce and report on our preliminary empirical experience with a new class of control algorithms for this task domain that we call "mirror algorithms."
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1988-10-31
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2023-05-17T02:17:37.000
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Copyright 1988 IEEE. Reprinted from Proceedings of the IEEE International Workshop on Intelligent Robots, 1988, pages 91-97. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. 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.