High-speed Throwing Motion Based on Wave Propagation

Summary

The speed of robotic manipulation is slow at present although a mechanical system excels in the speed of motion fundamentally. In this paper the robotic throwing task is taken up in order to achieve high-speed robot manipulation. We propose a strategy focused on the superposition of wave patterns. In addition the contact model for ball control is analyzed. Experimental results are also shown in which a high-speed manipulator throws a ball toward targeted direction.

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References

1. Taku Senoo, Akio Namiki and Masatoshi Ishikawa. High-speed Throwing Motion Based on Kinetic Chain Approach. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. (Nice, France, 2008.9.25) / Proceedings, pp.3206-3211.
2. Taku Senoo, Yuji Yamakawa, Satoru Mizusawa, Akio Namiki, Masatoshi Ishikawa and Makoto Shimojo. Skillful Manipulation Based on High-speed Sensory-Motor Fusion. 2009 IEEE International Conference on Robotics and Automation. (Kobe, Japan, 2009.5.15) / Video Proceedings, pp.1611-1612.