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Prof. Daniel E. Koditschek

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Preliminary Experiments in Spatial Robot Juggling

Proceedings of International Symposium on Experimental Robotics, June 1991

Alfred A. Rizzi and D. E. Koditschek
Yale University
Full PDF | Penn Scholarly Commons | Web Link

Abstract
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.
BibTeX entry
@inproceedings{rizzi-iser-1991,
   title      = {Preliminary Experiments in Spatial Robot Juggling},
   author     = {A.A. Rizzi and D.E. Koditschek},
   booktitle  = {International Symposium on Experimental Robotics},
   year       = {1991},
   month      = {June},
   pages      = {282-298},
}

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