Departmental Papers (ESE)



This paper presents a stability analysis of a simple Shannon juggler and contrasts its properties with those of a mirror juggler. It discusses the need to develop a systems theory for strongly coupled tunable oscillators.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Proceedings of the Sixth International Symposium on Robotics Research


Preprint version. Published in Proceedings of the Sixth International Symposium on Robotics Research, October 1993.

NOTE: At the time of publication, author Daniel Koditschek
was affiliated with the University of Michigan, Ann Arbor.
Currently, he is a faculty member in the Department of
Electrical and Systems Engineering at the University of

Bib Tex

@inproceedings{koditschek-isrr-1993, author={D. E. Koditschek}, booktitle={International Symposium on Robotics Research}, title={A Comparison of Regulation and Entrainment in Two Robot Juggling Strategies}, year={1993} }



Date Posted: 25 July 2014

This document has been peer reviewed.