A Dynamical Sensor for Robot Juggling

We discuss the sensory management strategy that has evolved over the course of our efforts to build a three degree of freedom robot capable of juggling two balls at once . A field rate stereo camera system passes estimates of the balls’ positions to a juggling algorithm that drives the robot’s joint actuators. In order to meet the stringent real-time constraints imposed by such a visual servoing task, we have found it necessary to pay increasingly careful attention to our strategy for controlling the dynamics of the camera window management system. The paper concludes with an initial attempt to formalize this control problem. For more information: Kod*La