Departmental Papers (ESE)


We discuss the sensory management strategy that has evolved over the course of our efforts to build a three degree of freedom robot capable of juggling two balls at once . A field rate stereo camera system passes estimates of the balls’ positions to a juggling algorithm that drives the robot’s joint actuators. In order to meet the stringent real-time constraints imposed by such a visual servoing task, we have found it necessary to pay increasingly careful attention to our strategy for controlling the dynamics of the camera window management system. The paper concludes with an initial attempt to formalize this control problem.

For more information: Kod*Lab

Document Type

Book Chapter

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Visual Servoing: Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback

Start Page


Last Page





Electronic version of an article published as [World Scientific Series in Robotics and Intelligent Systems, Volume 7, 1993, 229-256] [DOI: 10.1142/9789814503709_0008] © [copyright World Scientific Publishing Company] [Journal URL:].

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 Pennsylvania.

Bib Tex

@inbook{rizzi-vs-1993, author = {A. A. Rizzi and D. E. Koditschek}, title = {A Dynamical Sensor for Robot Juggling}, booktitle = {Visual Servoing}, chapter = {8}, pages = {229-256}, editor = {Koichi Hashimoto}, publisher = {World Scientific}, year = {1993} doi = {10.1142/9789814503709_0008}, URL = {}, eprint = {} }



Date Posted: 29 September 2014

This document has been peer reviewed.