Further Progress in Robot Juggling: The Spatial Two-Juggle

We report on our recently achieved spatial two-juggle: the ability to bat two freely falling balls into stable periodic vertical trajectories with a single three degree of freedom robot arm using a real-time stereo camera system for sensory input. After a brief review of the previously reported one-juggle, we describe our initial approach to the two-juggle planning and control problem. We have developed a number of important refinements to our initial strategy in the course of getting the system to work, and these are reported in some detail. The paper concludes with a discussion of some data from typical two-juggle runs in the laboratory.

• Type: Conference
• Year: 1993
• Where: ICRA
• Authors: Alfred A. Rizzi, Daniel E. Koditschek
• Keywords: Freedom Robot Arm, ICRA 1993, Periodic Vertical Trajectories, Real-time Stereo Camera, Robotics