Ball Control in High-speed Batting Motion using Hybrid Trajectory Generator

Abstract— Speeding up robot motion provides not only improvement in operating efficiency but also improves dexterous manipulation by taking advantage of an unstable state or noncontact state. In this paper we describe a hybrid trajectory generator that produces high-speed manipulation. This algorithm produces both mechanical high-speed motion and sensor-based reactive motion. As an example of high-speed manipulation, a robotic ball control in a batting task has been achieved. Performance evaluation is also analyzed.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Taku Senoo, Akio Namiki, Masatoshi Ishikawa
• Keywords: Dexterous Manipulation, Hybrid Trajectory Generator, ICRA 2006, Robotics, Sensor-based Reactive Motion