Light-weight Ball Catching with High-speed Visual Feedback

Summary

High-speed manipulation has great potential to produce new robotic skills utilizing the feature of high-speed motion. The purpose of this study is to achieve catching a light-weight ball with a high-speed hand-arm system and high-speed visual feedback. One of the main problems in catching a high-speed moving light-weight ball is a ball bouncing off after hitting the hand easily. Therefore in this paper, we propose the catching strategy that reduces relative velocity between the hand and a ball. We show experimental results of a high-speed manipulator catching a ball.

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References

1. K. Murakami, Y. Yamakawa, T. Senoo and M. Ishikawa: Motion Planning for Catching a Light-weight Ball with High-speed Visual Feedback, 2015 IEEE International Conference on Robotics and Biomimetics, pp.339-344(2015)