Rizzi, A. A.Koditschek, Daniel E2023-05-222023-05-221991-06-272014-08-19https://repository.upenn.edu/handle/20.500.14332/33916In 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*LabGRASPKodlabElectrical and Computer EngineeringEngineeringSystems EngineeringPresentation