juggling robot

A toss juggling robot that can do more than a two ball column has only recently been built.{{when?|date=March 2017}} However, Claude Shannon built the first juggling robot, a 3-ball bounce juggler, from an Erector Set, in the 1970s.{{cite journal|last1=Beek|first1=Peter J.|last2=Lewbel|first2=Arthur|year=1995|title=The Science of Juggling|url=https://www2.bc.edu/~lewbel/jugweb/sciamjug.pdf|journal=Scientific American|volume=273|issue=5|pages=92–97|url-status=dead|archive-url=https://web.archive.org/web/20160304104003/https://www2.bc.edu/~lewbel/jugweb/sciamjug.pdf|archive-date=2016-03-04|doi=10.1038/scientificamerican1195-92|bibcode=1995SciAm.273e..92B }} ([http://www.juggling.org/papers/science-1/] {{cite web |url=https://www2.bc.edu/~lewbel/jugweb/science-1.html |title=The Science of Juggling |access-date=2016-02-18 |url-status=dead |archive-url=https://web.archive.org/web/20160304104319/https://www2.bc.edu/~lewbel/jugweb/science-1.html |archive-date=2016-03-04 }}) "Bounce juggling is easier to accomplish than is toss juggling because the balls are grabbed at the top of their trajectories, when they are moving the slowest," and Shannon's machine tendency to correct throwing errors was through tracks on its hands. By 1992,{{cite book |last1=Schaal |first1=Stefan |last2=Atkeson |first2=Christopher |title=[1993] Proceedings IEEE International Conference on Robotics and Automation |chapter=Open loop stable control strategies for robot juggling |date=1993 |publisher=IEEE Press |volume=3 |location=New York |pages=913–18 |doi= 10.1109/robot.1993.292260|isbn=978-0-8186-3450-5 |s2cid=8935092 }} Christopher G. Atkeson and Stefan K. Schaal of the Georgia Institute of Technology built a similar 5-ball bounce juggling robot. Decorated as and named W. C. Fields, Shannon's machine used grooved cups/tracks instead of sensors or feedback.{{YouTube|id=sBHGzRxfeJY|title=Claude Shannon Juggling}}. Shannon also devised a juggling theorem.

In 1989 Martin Bühler and Daniel E. Koditschek produced a juggler with one rotating bar, moving one way then the other, that bounces two-props in a fountain of indefinite length.

Sakaguchi et al. (1991) and Miyazaki (1993) produced a one-armed two-ball fountain juggler with a two degrees of freedom arm and an unactuated funnel-shaped hand.{{cite book|last1=Mason|first1=Matthew T.|year=2001|title=Mechanics of Robotic Manipulation|page=233|publisher=MIT|isbn=9780262263740}} Kizaki and Namiki (2012) developed a high-speed hand-arm system with actuated fingers that is able to repeatedly juggle two balls in a fountain pattern.Ackerman, Evan (2012). "[https://spectrum.ieee.org/juggling-robot-takes-on-two-balls-with-one-very-fast-hand Juggling Robot Takes on Two Balls With One Very Fast Hand]", Spectrum.IEEE.org & {{YouTube|id=vnDwvsVk_nc|title=Robotic Two Ball Juggling}}. Ploeger et al. (2020) achieved stable two-ball juggling in a column pattern for 33 minutes on a four degrees of freedom robotic arm with a funnel-shaped hand using a learning based approach.{{cite arXiv |last=Jan Peters |first=Kai Ploeger |date=2020 |title=High acceleration reinforcement learning for real-world juggling with binary rewards |class=cs.RO |eprint=2010.13483}}"[https://sites.google.com/view/jugglingbot High Acceleration Reinforcement Learning for Real-World Juggling with Binary Rewards]".

By 2011 students at the Department of Control Engineering at Prague's Czech Technical University built a 5-ball cascade juggling robot whose arms have both vertical and horizontal motion, whose hands are ring-shaped, and which contains a basket that provides the initial throws and relaunches any failed catches.Bergen, Jennifer (2011). "[http://www.geek.com/geek-cetera/robot-juggles-five-balls-at-a-time-with-ease-1385095/ Robot juggles five balls at a time with ease] {{Webarchive|url=https://web.archive.org/web/20140826115439/http://www.geek.com/geek-cetera/robot-juggles-five-balls-at-a-time-with-ease-1385095/ |date=2014-08-26 }}", Geek.com.{{cite web|url=http://dce.fel.cvut.cz/juggler/ |title=Juggler |access-date=2014-08-22 |url-status=bot: unknown |archive-url=https://web.archive.org/web/20121114124405/http://dce.fel.cvut.cz/juggler/ |archive-date=November 14, 2012 }}.{{YouTube|id=9asDO_1A27U|title=Robot Juggles 5 Balls}}.

Disney Research is developing a robot capable of pass juggling with the goal of being able to provide more physical interaction between visitors and mechanized characters.{{citation|last1=Kober|first1=Jens|last2=Glisson|first2=Matthew|last3=Mistry|first3=Michael|date=2012|title=Playing Catch and Juggling with a Humanoid Robot|url=http://www.disneyresearch.com/project/juggling_robot/|archive-url=https://web.archive.org/web/20121129060234/http://www.disneyresearch.com/project/juggling_robot/|url-status=dead|archive-date=November 29, 2012|work=proceedings at 2012 IEEE-RAS International Conference on Humanoid Robots}}. [http://www.disneyresearch.com/wp-content/uploads/ICHR12_0136_FI.pdf] {{Webarchive|url=https://web.archive.org/web/20140826113611/http://www.disneyresearch.com/wp-content/uploads/ICHR12_0136_FI.pdf |date=2014-08-26 }}.Quick, Darren (2012). "[http://www.gizmag.com/disney-catching-robot/25145/ Disney Research robot can juggle, play catch]", GizMag.com.{{YouTube|id=83eGcht7IiI|title=Playing Catch and Juggling with a Humanoid Robot}}.

Contact juggling appears to be less common among robots, as it is with people. However, in 2010 undergraduates at Northwestern University developed a robot capable of rolling a grooved disk from the center, over the edge, and to the center of the other side of a figure-eight shaped track capable of rotation."[http://www.ministryofmanipulation.com/blog/contact-juggling-robot/ Contact Juggling Robot]", MinistryofManipulation.com.

• Bipedal robot
• IEEE
• Motion capture
• Negative feedback
• Servomechanism

{{reflist|30em}}

• Mason, Matt (1996). "[http://www.juggling.org/help/misc/robots.html A Survey Of Robotic Juggling And Dynamic Manipulation]", Juggling.org.

{{Juggling}}

{{Robotics}}

Category:Juggling

Category:Robots