Buehler, MartinKoditschek, Daniel EKindlmann, P. J2023-05-222023-05-221988-10-312008-06-05https://repository.upenn.edu/handle/20.500.14332/33598We develop a formalism for describing and analyzing a very simple representative of a class of robotic tasks which require "dynamical dexterity," among them the task of juggling. We introduce and report on our preliminary empirical experience with a new class of control algorithms for this task domain that we call "mirror algorithms."GRASPKodlabPresentation