Ball dribbling with an underactuated continuous-time control phase: Theory & experiments

Ball dribbling is a central element of basketball. One main challenge for realizing basketball robots is to stabilize periodic motion of the ball. The task is nontrivial due to the discrete-continuous nature of the corresponding dynamics. This paper proposes to add an elastic element to the manipulator so the ball can be controlled in a continuous-time phase instead of an intermittent contact. Optimal catching and pushing trajectories are planned for the underactuated system based on the virtual holonomic constraints approach. First experimental studies are presented to evaluate the approach.