Departmental Papers (ESE)


A new class of control algorithms - “mirror algorithms” - give rise to experimentally observedjuggling behavior in a simple robotic mechanism. The simplest of these algorithms (upon which all the others are founded) is provably correct with respect to a simplified model of the robot and its environment. This paper reviews the physical setup and underlying mathematical theory, discusses two significant extensions of the fundamental algorithm, provides data from our successful empirical verifications of these control strategies and briefly speculates upon the larger implications for the field of robotics.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

The Fifth International Symposium on Robotics Research

Start Page


Last Page



Copyright Massachusetts Institute of Technology. Reprinted from Robotics Research: The Fifth International Symposium 1990, pages 321-332.

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.

Bib Tex

@inproceedings{buehler_ISRR1990, author = {B\"{u}hler, M. and Koditschek, D. E. and Kindlmann, P. J.}, title = {Planning and Control of Robotic Juggling Tasks}, booktitle = {The fifth international symposium on Robotics research}, year = {1990}, isbn = {0-262-13253-2}, pages = {321--332}, publisher = {MIT Press}, address = {Cambridge, MA, USA}, }



Date Posted: 25 July 2014

This document has been peer reviewed.