Departmental Papers (ESE)


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."

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

October 1988


Copyright 1988 IEEE. Reprinted from Proceedings of the IEEE International Workshop on Intelligent Robots, 1988, pages 91-97.

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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.