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ICRA
2002
IEEE

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

9 years 4 months ago
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.
Masahiro Takeuchi, Fumio Miyazaki, Michiya Matsush
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Masahiro Takeuchi, Fumio Miyazaki, Michiya Matsushima, Masato Kawatani, Takaaki Hashimoto
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