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Planning and Control of Robotic Juggling Tasks

International Symposium on Robotics Research, 1990

Martin Buehler, D. E. Koditschek, and Peter J. Kindlmann
Electrical Engineering, Yale University
Full PDF | Penn Scholarly Commons

Abstract
      A new class of control algorithms - “mirror algorithms” - give rise to experimentally observedjuggling behavior in a simple robotic mechanism. The simplest of these algorithms (upon which all the others are founded) is provably correct with respect to a simplified model of the robot and its environment. This paper reviews the physical setup and underlying mathematical theory, discusses two significant extensions of the fundamental algorithm, provides data from our successful empirical verifications of these control strategies and briefly speculates upon the larger implications for the field of robotics.
BibTeX entry
@inproceedings{buehler_ISRR1990,
 author = {B\"{u}hler, M. and Koditschek, D. E. and Kindlmann, P. J.},
 title = {Planning and Control of Robotic Juggling Tasks},
 booktitle = {The fifth international symposium on Robotics research},
 year = {1990},
 isbn = {0-262-13253-2},
 pages = {321--332},
 publisher = {MIT Press},
 address = {Cambridge, MA, USA},
}

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