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Motion control for a hitting task: A learning approach to inverse mapping

  • Chapter 7 Autonomy Via Learning
  • Conference paper
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Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

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Abstract

We describe our approach to the robot's Hanetsuki task (Japanese badminton), that is, to return the incoming ball to the human opponent with a racket. A learning algorithm that consists of updating action commands and smoothing them based on the Gaussian kernel is proposed to compensate for the insufficiency in a model-based approach. Experimental results obtained by using the developed Hanetsuki robot are also shown.

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References

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Authors and Affiliations

  1. Faculty of Engineering Science, Osaka University, 560, Toyonaka, Osaka, Japan

    Hiroshi Watanabe, Yoshinori Yoshii, Yasuhiro Masutani & Fumio Miyazaki

Authors
  1. Hiroshi Watanabe
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  2. Yoshinori Yoshii
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  3. Yasuhiro Masutani
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  4. Fumio Miyazaki
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Watanabe, H., Yoshii, Y., Masutani, Y., Miyazaki, F. (1997). Motion control for a hitting task: A learning approach to inverse mapping. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035221

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  • DOI: https://doi.org/10.1007/BFb0035221

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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