Title :
Dynamic dexterity for the performance of "wall-bouncing" tasks
Author :
Takeuchi, Masahiro ; Miyazaki, Fumio ; Matsushima, Michiya ; Kawatani, Masato ; Hashimoto, Takaaki
Author_Institution :
Akashi Coll. of Technol., Japan
Abstract :
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 the 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 the "wall-bouncing" task under disturbances.
Keywords :
dexterous manipulators; discrete systems; manipulator dynamics; stability; state feedback; ball hitting; ball trajectory; batting tasks; discrete system; dynamical dexterity; equilibrium points; stability analysis; state feedback; wall-bouncing task; Educational institutions; Feedback control; Information analysis; Kinetic theory; Orbital robotics; Psychology; Robots; Shape; Stability analysis; Timing;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014765
