Ball-juggling robots, Institute for Dynamic Systems and Control (IDSC), Swiss university ETH Zurich, Zurich, Switzerland

The Swinging Blind is a robot juggles a ball from side-to-side without any sensors to detect the ball. In this video, we present a feedback strategy that uses the paddle motions to control the swinging of the pendulum.

Lead researchers: Flavio Fontana, Philipp Reist, and Raffaello D'Andrea

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We demonstrate the different stable periodic orbits that exist for the Blind Juggler using the Cloverleaf paddle. Each of these periodic orbits (= repetitive ball motions) is locally stable. The balls need to be dropped at the right time and from the right height such that the ball ends up in the desired orbit. We use this paddle for research in the control of nonlinear dynamic systems.

Lead researchers: Philipp Reist and Raffaello D'Andrea

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