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