Preliminary Experiments in Spatial Robot Juggling
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Electrical and Computer Engineering
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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
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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.