DocumentCode
1896541
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
Volume
2
fYear
2002
fDate
2002
Firstpage
1559
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1014765
Filename
1014765
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