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ICRA
2002
IEEE

Realization of the Table Tennis Task Based on Virtual Targets

9 years 4 months ago
Realization of the Table Tennis Task Based on Virtual Targets
This paper describes how a table tennis robot with a fiat paddle coordinates its movement in order to achieve efficient strokes for any given ball. We propose a method of generating stroke movement based on virtual targets that means the point at which the ball should be struck and the paddle velocity just before hitting the ball. These targets are predicted using inputs-outputs maps implemented efficiently by means of a k-d tree (k dimensional tree). The paddle approaches these targets by using a visual feedback control scheme similar to the mirror law proposed by Koditschek. The results of the implementation are also given to show the effectiveness of the proposed method.
Fumio Miyazaki, Masahiro Takeuchi, Michiya Matsush
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Fumio Miyazaki, Masahiro Takeuchi, Michiya Matsushima, Takamichi Kusano, Takaaki Hashimoto
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