Dynamic Dexterity for the Performance of "Wall-Bouncing" Tasks

In this paper, we consider ”wall-bouncing” task in which we repeat the process of hitting the ball that rebounds from the wall and the table as a typical example of dexterous batting tasks. Through the stability analysis of a discrete system, we reveal that required dexterity varies depending on the location of equilibrium points, that is, the shape of the ball trajectory. A feedback control scheme for the paddle at the moment of impact is also proposed to continue ”wall-bouncing” task under disturbances.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Masahiro Takeuchi, Fumio Miyazaki, Michiya Matsushima, Masato Kawatani, Takaaki Hashimoto
• Keywords: Dexterity Varies, Dexterous Batting Tasks, Feedback Control Scheme, ICRA 2002, Robotics