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Authors: Diana Serra 1 ; Aykut C. Satici 2 ; Fabio Ruggiero 1 ; Vincenzo Lippiello 1 and Bruno Siciliano 1

Affiliations: 1 University of Naples Federico II, Italy ; 2 Massachusetts Institute of Technology, United States

ISBN: 978-989-758-198-4

Keyword(s): Optimal Trajectory Planning, Table Tennis Robot, Nonprehensile Manipulation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Modeling, Analysis and Control of Hybrid Dynamical Systems ; Modeling, Simulation and Architectures ; Optimization Algorithms ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper presents an optimal trajectory planner for a robotic batting task . The specific case of a table tennis game performed by a robot is considered. Given an estimation of the trajectory of the ball during the free flight, the method addresses the determination of the paddle configuration (pose and velocity) to return the ball at a desired position with a desired spin. The implemented algorithm takes into account the hybrid dynamic model of the ball in free flight as well as the state transition at the impact (the reset map). An optimal trajectory that minimizes the acceleration functional is generated for the paddle to reach the desired impact position, velocity and orientation. Simulations of different case studies further bolster the approach along with a comparison with state-of-the-art methods.

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Paper citation in several formats:
Serra D., Satici A., Ruggiero F., Lippiello V. and Siciliano B. (2016). An Optimal Trajectory Planner for a Robotic Batting Task: The Table Tennis Example.In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 90-101. DOI: 10.5220/0005982000900101

@conference{icinco16,
author={Diana Serra and Aykut C. Satici and Fabio Ruggiero and Vincenzo Lippiello and Bruno Siciliano},
title={An Optimal Trajectory Planner for a Robotic Batting Task: The Table Tennis Example},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={90-101},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005982000900101},
isbn={978-989-758-198-4},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Optimal Trajectory Planner for a Robotic Batting Task: The Table Tennis Example
SN - 978-989-758-198-4
AU - Serra D.
AU - Satici A.
AU - Ruggiero F.
AU - Lippiello V.
AU - Siciliano B.
PY - 2016
SP - 90
EP - 101
DO - 10.5220/0005982000900101

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