{"id":"https://openalex.org/W2051425526","doi":"https://doi.org/10.1109/tro.2012.2205493","title":"Design and Analysis of a Blind Juggling Robot","display_name":"Design and Analysis of a Blind Juggling Robot","publication_year":2012,"publication_date":"2012-07-30","ids":{"openalex":"https://openalex.org/W2051425526","doi":"https://doi.org/10.1109/tro.2012.2205493","mag":"2051425526"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2205493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2205493","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017423433","display_name":"Philipp Reist","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"P. Reist","raw_affiliation_strings":["Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland","[Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050557198","display_name":"Raffaello D\u2019Andrea","orcid":"https://orcid.org/0000-0001-5287-7849"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R. D'Andrea","raw_affiliation_strings":["Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland","[Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":1.8232,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.84381384,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"28","issue":"6","first_page":"1228","last_page":"1243"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11449","display_name":"Mechanical and Optical Resonators","score":0.9778000116348267,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12250","display_name":"Experimental and Theoretical Physics Studies","score":0.9775000214576721,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/paddle","display_name":"Paddle","score":0.8299016356468201},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.7248451709747314},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6593550443649292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5886685848236084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4887988269329071},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4730376899242401},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42144161462783813},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.41765278577804565},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35430455207824707},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2884708642959595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.251191109418869},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1260308027267456},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08643278479576111}],"concepts":[{"id":"https://openalex.org/C165150422","wikidata":"https://www.wikidata.org/wiki/Q449573","display_name":"Paddle","level":2,"score":0.8299016356468201},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.7248451709747314},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6593550443649292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5886685848236084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4887988269329071},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4730376899242401},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42144161462783813},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.41765278577804565},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35430455207824707},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2884708642959595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.251191109418869},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1260308027267456},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08643278479576111},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2012.2205493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2205493","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1545897588","https://openalex.org/W1562327279","https://openalex.org/W1567177323","https://openalex.org/W1994828784","https://openalex.org/W1995409582","https://openalex.org/W2001306860","https://openalex.org/W2084042791","https://openalex.org/W2091260137","https://openalex.org/W2102747326","https://openalex.org/W2108358349","https://openalex.org/W2117182806","https://openalex.org/W2122355301","https://openalex.org/W2122994532","https://openalex.org/W2126838441","https://openalex.org/W2131604711","https://openalex.org/W2132714442","https://openalex.org/W2137802860","https://openalex.org/W2139539356","https://openalex.org/W2141541198","https://openalex.org/W2142115390","https://openalex.org/W2145091200","https://openalex.org/W2146866686","https://openalex.org/W2156481835","https://openalex.org/W2157720571","https://openalex.org/W2161761864","https://openalex.org/W2164094201","https://openalex.org/W2167105887","https://openalex.org/W2316463358","https://openalex.org/W2501460822","https://openalex.org/W4211187698","https://openalex.org/W4238110342"],"related_works":["https://openalex.org/W2089901852","https://openalex.org/W2017605127","https://openalex.org/W2308303652","https://openalex.org/W2768773817","https://openalex.org/W1933539706","https://openalex.org/W4389564241","https://openalex.org/W1539630152","https://openalex.org/W2092534976","https://openalex.org/W598066128","https://openalex.org/W2903025760"],"abstract_inverted_index":{"We":[0,38,66,101,140],"present":[1],"the":[2,5,43,51,54,59,62,74,87,91,97,115,119,133,138,143,153,157,162,165,180],"design":[3,48,99,158],"of":[4,22,42,53,61,71,73,86,93,118,152,164,179],"Blind":[6],"Juggler:":[7],"a":[8,30,35,68,79,150],"robot":[9,28],"that":[10,161],"is":[11,171],"able":[12],"to":[13,24],"juggle":[14],"an":[15],"unconstrained":[16],"ball":[17,44,76,104,110,120],"without":[18],"feedback":[19],"at":[20,64],"heights":[21],"up":[23],"2":[25],"m.":[26],"The":[27],"actuates":[29],"parabolic":[31,55],"aluminum":[32],"paddle":[33,56,63],"with":[34,46,96,149],"linear":[36,69],"motor.":[37],"achieve":[39],"open-loop":[40],"stability":[41,85],"trajectory":[45,77,88],"two":[47,98],"parameters:":[49],"1)":[50],"curvature":[52],"and":[57,82,121,131,155],"2)":[58],"acceleration":[60],"impact.":[65],"derive":[67],"map":[70],"perturbations":[72],"nominal":[75],"over":[78],"single":[80],"bounce":[81],"obtain":[83],"local":[84],"by":[89],"tuning":[90],"eigenvalues":[92],"this":[94,107],"mapping":[95],"parameters.":[100],"consider":[102],"nine":[103],"states":[105,117],"in":[106],"analysis,":[108],"including":[109],"spin.":[111],"Experimental":[112],"data":[113],"provide":[114],"impact":[116,163],"paddle.":[122],"From":[123],"these":[124],"data,":[125],"we":[126],"can":[127],"identify":[128],"system":[129,154],"parameters":[130,159],"infer":[132],"process":[134,166],"noise":[135,145,167],"introduced":[136],"into":[137],"system.":[139],"then":[141],"combine":[142],"experimental":[144,177],"power":[146],"spectral":[147],"densities":[148],"model":[151],"optimize":[156],"such":[160],"on":[168],"juggling":[169],"performance":[170],"minimized.":[172],"Theoretical":[173],"as":[174,176],"well":[175],"results":[178],"optimization":[181],"are":[182],"discussed.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
