High-speed throwing motion based on kinetic chain approach

Abstract— In this paper the robotic throwing task is considered with the goal of achieving high-speed dynamic manipulation. We propose a kinetic chain approach for swing motion focused on torque transmission. In addition the release method using a robotic hand is analyzed for ball control. Experimental results are shown in which a high-speed manipulator throws a ball toward a target.

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Taku Senoo, Akio Namiki, Masatoshi Ishikawa
• Keywords: IROS 2008, Kinetic Chain Approach, Robotic Hand, Robotic Throwing Task, Robotics