Publications and Papers

Papers

2009: Bouncing an Unconstrained Ball in Three Dimensions with a Blind Juggling Robot

You may find more detailed information on the mathematical background of the Blind Juggler in the paper which has been accepted to ICRA 2009.

Additional Material

Mathematica Files

You can download the Mathematica files used to calculate the nominal trajectory and to perform the perturbation analysis.

Handout

Hallie Siegel has created a handout explaining the basic principle of the juggler which you can download on the right or here.