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Further Progress in Robot Juggling: Solvable Mirror Laws

International Conference Robotics and Automation, May 1994

A. A. Rizzi and D. E. Koditschek
University of Michigan
Full PDF | Penn ScholarlyCommons | Web Link

Abstract
      In previous papers we have reported successful laboratory implementations of a family of juggling algorithms. In all but the one degree of freedom case, these empirically successful algorithms have so far resisted our analytical efforts to explain why they work. This is in large measure a consequence of our inability to write down using elementary functions an expression for the closed loop dynamics they induce. We discuss in this paper a modified juggling algorithm whose resulting closed loop dynamics can be written down directly. We offer data establishing the empirical success of the new algorithm. Theoretical analysis of the closed loop dynamics is presently in progress.
BibTeX entry
@inproceedings{rizzi-icra-1994,
  author       = {A. A. Rizzi and D. E. Koditschek},
  title        = {Further Progress in Robot Juggling: Solvable Mirror Laws},
  booktitle    = {International Conference Robotics and Automation},
  year         = {1994},
  month        = {May}
}

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