Toward the control of attention in a dynamically dexterous robot

The architecture of our original setup is briefly reviewed in Section 2. The recent success of the two-juggle could not have been achieved without the enhancements to the vision system that we describe in Section 3. Although the working enhancements were developed in an ad hoc manner and implemented through a process of empirical trial and error, we suspect that the resulting system (or, a t least, a suitably polished version thereof) should admit a relatively simple formal description. In Section 4 we present our progress in rendering such a formal description with the hope of promoting a more principled approach to solving such sensory control problems when we encounter them in the future.