Departmental Papers (ESE)

Abstract

In a continuing program of research in robotic control of intermittent dynamical tasks, we have constructed a three degree of freedom robot capable of juggling a ball falling freely in the earth’s gravitational field. This work is a direct extension of that previously reported in [7, 3, 5, 4]. The present paper offers a comprehensive description of the new experimental apparatus and a brief account of the more general kinematic, dynamical, and computational understanding of the previous work that underlie the operation of this new machine.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

6-27-1991

Publication Source

Experimental Robotics II

Volume

190

Start Page

282

Last Page

298

DOI

10.1007/BFb0036146

Comments

Postprint version. Published in Lecture Notes in Control and Information Sciences, Volume 190, Experimental Robotics II, 1991, pages 282-298.
DOI: http://dx.doi.org/10.1007/BFb0036146

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{rizzi-iser-1991, title = {Preliminary Experiments in Spatial Robot Juggling}, author = {A.A. Rizzi and D.E. Koditschek}, booktitle = {International Symposium on Experimental Robotics}, year = {1991}, month = {June}, pages = {282-298}, }

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Date Posted: 29 September 2014

This document has been peer reviewed.