A One Degree of Freedom Juggler in a Two Degree of Freedom Environment. - Martin Bühler; Daniel E. Koditschek; P. J. Kindlmann (IROS, 1988)

A family of robot control strategies for intermittent dynamical environments. - Martin Bühler; Daniel E. Koditschek; P. J. Kindlmann (ICRA, 1989)

A Simple Juggling Robot: Theory and Experimentation. - Martin Buehler; Daniel E. Koditschek; P. J. Kindlmann (ISER, 1989)

Planning and Control of Robotic Juggling and Catching Tasks. - Martin Buehler; Daniel E. Koditschek; P. J. Kindlmann (Int. J. Robotics Res., 1994)