Planning and Control of Robotic Juggling and Catching Tasks

Buehler, M.; Koditschek, D. E.; Kindlmann, P. J.

Planning and Control of Robotic Juggling and Catching Tasks

dc.contributor.author	Buehler, M.	en_US
dc.contributor.author	Koditschek, D. E.	en_US
dc.contributor.author	Kindlmann, P. J.	en_US
dc.date.accessioned	2010-04-13T19:50:16Z
dc.date.available	2010-04-13T19:50:16Z
dc.date.issued	1994	en_US
dc.identifier.citation	Buehler, M.; Koditschek, D.E.; Kindlmann, P.J. (1994). "Planning and Control of Robotic Juggling and Catching Tasks." The International Journal of Robotics Research 13(2): 101-118. <http://hdl.handle.net/2027.42/67815>	en_US
dc.identifier.issn	0278-3649	en_US
dc.identifier.uri	https://hdl.handle.net/2027.42/67815
dc.description.abstract	A new class of control algorithms—the "mirror algorithms"— gives rise to experimentally observed juggling and catching behavior in a planar robotic mechanism. The simplest of these algorithms (on which all the others are founded) is provably correct with respect to a simplified model of the robot and its environment. This article briefly reviews the physical setup and underlying mathematical theory. It discusses two significant extensions of the fundamental algorithm to juggling two objects and catching. We provide data from successful empirical verifi cations of these control strategies and briefly speculate on the larger implications for the field of robotics.	en_US
dc.format.extent	3108 bytes
dc.format.extent	1566429 bytes
dc.format.mimetype	text/plain
dc.format.mimetype	application/pdf
dc.publisher	Sage Publications	en_US
dc.title	Planning and Control of Robotic Juggling and Catching Tasks	en_US
dc.type	Article	en_US
dc.subject.hlbsecondlevel	Electrical Engineering	en_US
dc.subject.hlbsecondlevel	Mechanical Engineering	en_US
dc.subject.hlbtoplevel	Engineering	en_US
dc.description.peerreviewed	Peer Reviewed	en_US
dc.contributor.affiliationum	Electrical Engineering and Computer Science Department University of Michigan Ann Arbor, Michigan 48109	en_US
dc.contributor.affiliationother	Center for Intelligent Machines Mechanical Engineering Department Mc Gill University Montréal, Québec, Canada H3A 2A7	en_US
dc.contributor.affiliationother	Center for Systems Science Department of Electrical Engineering Yale University New Haven, Connecticut 06520-1968	en_US
dc.description.bitstreamurl	http://deepblue.lib.umich.edu/bitstream/2027.42/67815/2/10.1177_027836499401300201.pdf
dc.identifier.doi	10.1177/027836499401300201	en_US
dc.identifier.source	The International Journal of Robotics Research	en_US
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dc.owningcollname	Interdisciplinary and Peer-Reviewed

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