Planning and Control of Robotic Juggling Tasks
Loading...
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
Abstract
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
Advisor
Date of presentation
1990
Conference name
Departmental Papers (ESE)
Conference dates
2023-05-17T09:04:36.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Comments
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.
Recommended citation
@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}, }