Rizzi, AlfredWhitcomb, Louis L.Koditschek, Daniel E2023-05-222023-05-2219912014-07-01https://repository.upenn.edu/handle/20.500.14332/33903In 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 freely in the earth’s gravitational field. This work is a direct extension of that previously reported in [5, 1, 4, 3, 2, 7]. The system consists of four major sections, all of which have been implemented on a network of twelve transputers.GRASPKodlabPresentation