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Time-Optimal Paths for a Robotic Batting Task

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Informatics in Control, Automation and Robotics

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 430))

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Abstract

This paper presents a novel method to optimize the motion of a paddle within a nonprehensile batting task. The proposed approach shows that it is possible to online predict the impact time and the configuration of the paddle, in terms of its linear velocity and orientation, to re-direct a ball towards a desired location, imposing also a desired spin during the free flight. While exploiting the hybrid dynamics of the task during the minimization process, the obtained position and orientation paths are planned by minimizing the acceleration function of the paddle in SE(3). The batting paths are then tracked by a semi-humanoid robot through a closed-loop kinematic inversion. Numerical tests are implemented to compare different metrics to define the optimal impact time.

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Acknowledgements

The research leading to these results has been supported by the RoDyMan project, which has received funding from the European Research Council FP7 Ideas under Advanced Grant agreement number 320992.

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Authors and Affiliations

  1. Department of Electrical Engineering and Information Technology, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Diana Serra, Fabio Ruggiero, Vincenzo Lippiello & Bruno Siciliano

  2. Electrical Engineering and Computer Science, Massachusetts Institute of Technology, 32 Vassar Street, Cambridge, MA, USA

    Aykut C. Satici

Authors
  1. Diana Serra
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  2. Fabio Ruggiero
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  3. Aykut C. Satici
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  4. Vincenzo Lippiello
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  5. Bruno Siciliano
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Corresponding author

Correspondence to Diana Serra .

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Editors and Affiliations

  1. Images, Signals, and Intelligent Systems Laboratory, University Paris-EST Créteil (UPEC), Créteil, France

    Kurosh Madani

  2. MAC Team, LAAS-CNRS, Toulouse Cedex 4, France

    Dimitri Peaucelle

  3. Ford Research and Advanced Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

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Serra, D., Ruggiero, F., Satici, A.C., Lippiello, V., Siciliano, B. (2018). Time-Optimal Paths for a Robotic Batting Task. In: Madani, K., Peaucelle, D., Gusikhin, O. (eds) Informatics in Control, Automation and Robotics . Lecture Notes in Electrical Engineering, vol 430. Springer, Cham. https://doi.org/10.1007/978-3-319-55011-4_13

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  • DOI: https://doi.org/10.1007/978-3-319-55011-4_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-55010-7

  • Online ISBN: 978-3-319-55011-4

  • eBook Packages: EngineeringEngineering (R0)

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