Realization of the table tennis task based on virtual targets

This paper describes how a table tennis robot with a flat 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.