{"id":"https://openalex.org/W6995815063","doi":null,"title":"Planning and Control of Robotic Juggling Tasks","display_name":"Planning and Control of Robotic Juggling Tasks","publication_year":1990,"publication_date":"1990-01-01","ids":{"openalex":"https://openalex.org/W6995815063"},"language":"en","primary_location":{"id":"pmh:oai:repository.upenn.edu:ese_papers-1737","doi":null,"is_oa":true,"landing_page_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1737&context=ese_papers","pdf_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1737&context=ese_papers","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1737&context=ese_papers","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Buehler, Martin","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Buehler, Martin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Koditschek, Daniel E","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koditschek, Daniel E","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5059908736","display_name":"Peter J. Kindlmann","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kindlmann, P. J.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63959391,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.3871999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.3871999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.13920000195503235,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.11559999734163284,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-algorithms","display_name":"control algorithms","score":0.550000011920929},{"id":"https://openalex.org/keywords/robot-control","display_name":"robot control","score":0.36500000953674316},{"id":"https://openalex.org/keywords/empirical-validation","display_name":"empirical validation","score":0.3720000088214874}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6396999955177307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6259999871253967},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6085000038146973},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5723000168800354},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5458999872207642},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5166000127792358},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4885999858379364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41119998693466187},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.39410001039505005},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3799999952316284},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3587000072002411},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30660000443458557},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2937999963760376},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26579999923706055},{"id":"https://openalex.org/C76969082","wikidata":"https://www.wikidata.org/wiki/Q486902","display_name":"Mathematical model","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.260699987411499},{"id":"https://openalex.org/C167123822","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automatic control","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.25200000405311584}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:repository.upenn.edu:ese_papers-1737","doi":null,"is_oa":true,"landing_page_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1737&context=ese_papers","pdf_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1737&context=ese_papers","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/33901","doi":null,"is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/33901","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Presentation"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:ese_papers-1737","doi":null,"is_oa":true,"landing_page_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1737&context=ese_papers","pdf_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1737&context=ese_papers","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W6995815063.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2004421076","https://openalex.org/W7015381379","https://openalex.org/W7065824566","https://openalex.org/W2540902539","https://openalex.org/W2164094201","https://openalex.org/W136274992","https://openalex.org/W147087002","https://openalex.org/W2312709530","https://openalex.org/W2156481835","https://openalex.org/W1492455431"],"abstract_inverted_index":{"A":[0],"new":[1],"class":[2],"of":[3,23,42,62,73,87],"control":[4,75],"algorithms":[5,25],"-":[6,9],"\u201cmirror":[7],"algorithms\u201d":[8],"give":[10],"rise":[11],"to":[12,38],"experimentally":[13],"observedjuggling":[14],"behavior":[15],"in":[16],"a":[17,39],"simple":[18],"robotic":[19],"mechanism.":[20],"The":[21],"simplest":[22],"these":[24,74],"(upon":[26],"which":[27],"all":[28],"the":[29,43,51,63,81,85],"others":[30],"are":[31],"founded)":[32],"is":[33],"provably":[34],"correct":[35],"with":[36],"respect":[37],"simplified":[40],"model":[41],"robot":[44],"and":[45,54,77],"its":[46],"environment.":[47],"This":[48],"paper":[49],"reviews":[50],"physical":[52],"setup":[53],"underlying":[55],"mathematical":[56],"theory,":[57],"discusses":[58],"two":[59],"significant":[60],"extensions":[61],"fundamental":[64],"algorithm,":[65],"provides":[66],"data":[67],"from":[68],"our":[69],"successful":[70],"empirical":[71],"verifications":[72],"strategies":[76],"briefly":[78],"speculates":[79],"upon":[80],"larger":[82],"implications":[83],"for":[84],"field":[86],"robotics.":[88],"For":[89],"more":[90],"information:":[91],"Kod*Lab":[92]},"counts_by_year":[],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2025-10-10T00:00:00"}
