Departmental Papers (ESE)


We explore a very simple representative of a class of of robotic tasks which require "dynamic dexterity", among them the task of "juggling". In this initial paper we propose a formal definition of a "vertical one juggle", report a few preliminary analytical results, and offer illustrative simulations. This analysis is being currently applied to the design of and experimentation with "juggling algorithms" for a one-degree of freedom "robot" operative in the gravitational field.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



Buehler, M. & Koditschek, D. E. (1987). Robotics in an Intermittent Dynamical Environment: A Prelude to Juggling. 26th IEEE Conference on Decision and Control.

©1987 IEEE. 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 to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member at the School of Engineering and Applied Science at the University of Pennsylvania.



Date Posted: 03 May 2013

This document has been peer reviewed.