Ball Juggling with Cassie Cal

Cassie Cal juggling a ball: We present a controller for ball juggling on a Cassie bipedal robot. To achieve this, we consider the dual task of balancing the robot while simultaneously executing the precise task of ball juggling. As robots become increasingly integrated with everyday life, their multitasking ability becomes more and more important. Here we consider one challenging dual task of balancing and juggling. In our experiments, we demonstrate multiple juggles of a racquetball on various paddles