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A One Degree of Freedom Juggler in a Two Degree of Freedom Environment

Martin Buehler, Yale University
Daniel E. Koditschek, University of Pennsylvania
P. J. Kindlmann, Yale University

Article comments

Copyright 1988 IEEE. Reprinted from Proceedings of the IEEE International Workshop on Intelligent Robots, 1988, pages 91-97.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

Abstract

We develop a formalism for describing and analyzing a very simple representative of a class of robotic tasks which require "dynamical dexterity," among them the task of juggling. We introduce and report on our preliminary empirical experience with a new class of control algorithms for this task domain that we call "mirror algorithms."

Suggested Citation

Martin Buehler, Daniel E. Koditschek, and P. J. Kindlmann. "A One Degree of Freedom Juggler in a Two Degree of Freedom Environment" Departmental Papers (ESE) (1988).
Available at: http://works.bepress.com/daniel_koditschek/24