High-speed batting using a multi-jointed manipulator

• DOI: 10.1109/robot.2004.1307986
• Publication Date: 2004-08-23T20:33:14Z
• Authors: T. Senoo; A. Namiki; M. Ishikawa
• Keywords: 0209 industrial biotechnology; 02 engineering and technology

In this paper a robotic batting algorithm using a high-speed arm and high-speed stereo vision is proposed. With this strategy, the desired trajectory of the manipulator is generated so that both high-speed swing motion and tracking motion combine to meet the ball squarely with the bat. As a result the manipulator can follow the ball while swinging the bat at high speed even if it is difficult to predict the trajectory of a ball. Experimental results are shown in which a high-speed manipulator hits a ball thrown by a human.