DocumentCode
1870576
Title
Open loop stable control strategies for robot juggling
Author
Schaal, Stefan ; Atkeson, Christopher G.
Author_Institution
MIT, Cambridge, MA, USA
fYear
1993
fDate
2-6 May 1993
Firstpage
913
Abstract
Open-loop stable control strategies for a variety of juggling tasks are explored. The specific tasks studied are paddle juggling, ball-in-a-wedge juggling, five ball juggling, and devil sticking. All dynamic tasks introduced are solved by special purpose systems. The results of these investigations may provide insight into how open loop control can serve as a useful foundation for closed loop control and, particularly, what to focus on in learning control
Keywords
adaptive control; robots; stability; ball-in-a-wedge juggling; devil sticking; five ball juggling; learning control; open loop stable control strategies; paddle juggling; robot juggling; Artificial intelligence; Automatic control; Cognitive robotics; Control systems; Geometry; Kinematics; Laboratories; Mechanical factors; Open loop systems; Robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292260
Filename
292260
Link To Document