Progress in spatial robot juggling

We review our progress to date in eliciting dynamically dexterous behaviors from a three degree of freedom direct drive robot manipulator whose real-time stereo cameras provide 60 Hz sampled images of multiple freely falling bodies in highly structured lighting conditions. At present, the robot is capable of forcing a single ping-pong ball into a specified steady state (near) periodic vertical motion by repeated controlled impacts with a rigid paddle. The robot sustains the steady state behavior over long periods (typically thousands and thousands of impacts) and is capable of recovering from significant unexpected adversarial perturbations of the ball's flight phase. Gain tuning experiments corroborate our contention that the stability mechanism underlying the robot's reliability can be attributed to the same nonlinear dynamics responsible for analogous behavior in a one degree of freedom forebear. We are presently extending an algorithm for simultaneously juggling two bodies developed in that earlier work to the three dimensional case. Comments Copyright 1992 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 1992, pages 775-780. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. 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. This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/383 Department of Electrical & Systems Engineering Departmental Papers (ESE) University of Pennsylvania Year  Progress in spatial robot juggling Alfred A. Rizzi ∗ Daniel E. Koditschek † ∗Yale University, †University of Pennsylvania, [email protected] Copyright 1992 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, 1992., Volume 1, pages 775 780. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. 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. This paper is posted at ScholarlyCommons@Penn. http://repository.upenn.edu/ese papers/1 Proceedinp of tho 1992 IEEE Intemational Conf_nee on Robotics and Automation N"lCO, Fnnc:e • May 1992 Progress in Spatial Robot Juggling A. A. Rizzi and D. E. Koditschek * Center for Systems Science, Department of Electrical Engineering Yale University, New Haven, CT 06520-1968