Planning and Control of Robotic Juggling Tasks
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Electrical and Computer Engineering
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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
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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.