Cited by 51Dynamics and Control of Mechanical SystemsRobotic Locomotion and ControlMotor Control and Adaptation

Further progress in robot juggling: solvable mirror laws

Rizzi, A.A., Koditschek, D.E.·2002·Proceedings of the 1994 IEEE International Conference on Robotics and Automation

Abstract

In previous papers we have reported successful laboratory implementations of a family of juggling algorithms. In all but the one degree of freedom case, these empirically successful algorithms have so far resisted our analytical efforts to explain why they work. This is in large measure a consequence of our inability to write down using elementary functions an expression for the closed loop dynamics they induce. We discuss in this paper a modified juggling algorithm whose resulting closed loop dynamics can be written down directly. We offer data establishing the empirical success of the new algorithm. Theoretical analysis of the closed loop dynamics is presently in progress.>

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Crossref · 10.1109/robot.1994.350893

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12 of 12 references verified0 citation errors · 0 not checkable

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Authors
Rizzi, A. A., & Koditschek, D. E.
Affiliations
University of Michigan (US)
Venue
Proceedings of the 1994 IEEE International Conference on Robotics and Automation
Published
2002-12-17
Pages
2935-2940
ISSN
1050-4729 (ISSN-L)
OpenAlex
W2164094201
Cited by
50
References
12
Citations by year
2020: 1 · 2018: 1 · 2017: 3 · 2016: 3 · 2015: 3 · 2014: 2 · 2012: 5
FWCI
3.26
Type
conference paper
Language
en
Open access
closed
Locations
  • Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
  • ScholarlyCommons (University of Pennsylvania) (submittedVersion)
Topics
  • Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
  • Physical Sciences › Engineering › Biomedical Engineering › Robotic Locomotion and Control
  • Life Sciences › Neuroscience › Cognitive Neuroscience › Motor Control and Adaptation
Keywords
closed-loop dynamics, analytical dynamics, robot manipulators, one degree of freedom

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