2013: Control of a Swinging Juggling Robot: 12th Biannual European Control Conference (ECC). PDF
2012: Design and analysis of a Blind Juggling Robot: IEEE Transactions on Robotics. PDF. BIB. DOI. Download additional multimedia material here (contains Matlab and Mathematica scripts as well as videos).
2009: Bouncing an Unconstrained Ball in Three Dimensions with a Blind Juggling Robot. IEEE International Conference on Robotics and Automation (ICRA). PDF. BIB. DOI. Download Mathematica Notebooks describing the nominal ball trajectory here and perturbation analysis here
ETH Student Theses
Matthias Fässler, Semester Project, 2010: Estimation of Ball Coefficient of Restitution for the Blind Juggler.
Andrea Katharina Fuchs, Semester Project, 2009: A Dynamics Simulation for the Multiple-Balls Blind Juggler.
Tobias Sutter, Bachelor Thesis, 2010: A Dynamical Approach to Create Different Juggling Patterns Using Chaos.
Arsin Grünig, Semester Project, 2011: Vision Feedback for the Blind Juggler.