Bouncing model for the table tennis trajectory prediction and the strategy of hitting the ball

The bouncing model plays an important role in the trajectory prediction process when the humanoid robots play table tennis. A nonlinear bouncing model based on Momentum Theorem and Moment of Momentum Theorem considering spin of the ball is established to describe the collision between the ball and the table. With the constructed bouncing model, the hitting strategy is discussed to hit the ball the way we expect. The experiments show that with the existing aerodynamic model, we can predict the table tennis trajectory within the error range we expect.