Progress in spatial robot juggling

  title={Progress in spatial robot juggling},
  author={Alfred A. Rizzi and Daniel E. Koditschek},
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… CONTINUE READING
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