Simple Juggling Robot

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This robot can juggle with three balls. Hereto, a motor is controlled to keep a constant rotation speed. The rotation is translated in a sinusoidal motion of the „arms“. The juggling is then a result of the dynamic interaction of the ball, the elasticity of the drum, and the damping characteristics of the „hands“. This robot is based on a previous design by Claude Shannon. A detailed analysis of this open loop control problem can be found here: • Schaal Atkeson 1993: http://dx.doi.org/10.1109/ROBOT.1993.... • Stefan Schaals Robot:    • 3-Ball and 5-Balll Shannon   • For this robot, there is no sensor information on the ball required. Only the motor controller processes information to control a constant motor speed.

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