Learning to the robot table tennis task-ball control & rally with a human

We propose a method of controlling the paddle so as to return the ball to a desired point on the table with a specified flight duration. The proposed method consists of the following three input-output maps implemented by means of Locally Weighted Regression (LWR): (1) A map for predicting the impact time of the ball hit by the paddle and the ball position and velocity at that moment according to input vectors describing the state of the incoming ball, (2) A map representing a change in ball velocities before and after impact and (3) A map giving the relation between the ball velocity just after impact and the landing point and time of the returned ball. We also propose a novel control scheme based on iterative learning control to accurately achieve the stroke movement of the paddle as determined by using these maps.