2013: Control of a Swinging Juggling Robot: 12th Biannual European Control Conference (ECC). PDF. BIB. Download additional multimedia material here.

2012: Control of Nonlinear Systems with Symmetries using Chaos: IEEE International Conference on Decision and Control (CDC). PDFBIB. DOI.

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).

2011: The Pendulum Juggler. IEEE International Conference on Robotics and Automation (ICRA). PDF. BIB. DOI. Download Mathematica Notebook describing the perturbation analysis here.

2009Bouncing an Unconstrained Ball in Three Dimensions with a Blind Juggling Robot. IEEE International Conference on Robotics and Automation (ICRA). PDFBIB. DOI. Download Mathematica Notebooks describing the nominal ball trajectory here and perturbation analysis here

ETH Student Theses

Fabian Byland, Bachelor Thesis, 2013: Impact Detection Hardware for the Cloverleaf Blind Juggler.
Matthias Fässler, Semester Project, 2010: Estimation of Ball Coefficient of Restitution for the Blind Juggler.
Flavio Fontana, Master Thesis, 2012: Control of a Swinging Juggling Robot.
Andrea Katharina Fuchs, Semester Project, 2009: A Dynamics Simulation for the Multiple-Balls Blind Juggler.
Arsin Grünig, Semester Project, 2011: Vision Feedback for the Blind Juggler.
Lukas Koch, Master Thesis (in progress), 2015: Design of a Science Museum Exhibit.
Baptiste Mottet, Semester Project (in progress), 2015: Probabilistic Basins of Attraction for a Juggling Machine.
Alessandro Schär, Bachelor Thesis, 2013: The Circular Cloverleaf Blind Juggler.
Tobias Sutter, Bachelor Thesis, 2010: A Dynamical Approach to Create Different Juggling Patterns Using Chaos. Report
Ueli Wechsler, Bachelor Thesis (in progress), 2015: Mechatronic System Design for the Swinging Blind Juggler.

Contact us for obtaining any of the reports.

Educational Handout

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

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