Further progress in robot juggling: the spatial two-juggle

A spatial two-juggle is discussed. The device has 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 a previously-reported one-juggle, the author's initial approach to the two-juggle planning and control problem is described. A number of important refinements to their initial strategy are given. Data from typical two-juggle runs in the laboratory are given.<
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