학술논문
Ball control in high-speed batting motion using hybrid trajectory generator
Document Type
Conference
Author
Source
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on. :1762-1767 2006
Subject
Language
ISSN
1050-4729
Abstract
Speeding up robot motion provides not only improvement in operating efficiency but also improves dexterous manipulation by taking advantage of an unstable state or noncontact state. In this paper we describe a hybrid trajectory generator that produces high-speed manipulation. This algorithm produces both mechanical high-speed motion and sensor-based reactive motion. As an example of high-speed manipulation, a robotic ball control in a batting task has been achieved. Performance evaluation is also analyzed