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Distributed Real-Time Control of a Spatial Robot Juggler
May 1992 (vol. 25 no. 5)
pp. 12-24

The Yale spatial juggler and an emerging set of working principles for the design and implementation of embedded real-time distributed controllers are described. The robot uses a distributed network of transputers to process stereo camera data and control the torque of a three-degree-of-freedom arm to juggle a ball. The juggling algorithm is a direct extension of a novel class of nonlinear feedback controllers, called mirror laws. The algorithm takes the form of a mathematical expression that specifies robot position as a function of the ball's position and velocity. The programming approach, called geometric programming, substitutes event-driven dynamical processes and geometrical transformations for a more syntactically oriented if-then-else approach.

Alfred A. Rizzi, Louis L. Whitcomb, Daniel E. Koditschek, "Distributed Real-Time Control of a Spatial Robot Juggler," Computer, vol. 25, no. 5, pp. 12-24, May 1992, doi:10.1109/2.144392
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