TY - GEN
T1 - High-speed flexible arm to reduce the effect of spinning ball in table tennis
AU - Takeda, Mitsuru
AU - Nishikawa, Satoshi
AU - Niiyama, Ruuma
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12/1
Y1 - 2019/12/1
N2 - Table-tennis robots struggle to return a spinning ball to the opponent' s court because the direction of bound depends on the direction and magnitude of the spin. We aim to solve this problem using a swing motion that is robust over a large range of spin patterns without accurate recognition of the spin. Specifically, we examine the relation between the swing speed and direction of return. When the racket speed is 7 m/s, the difference in the return direction is only 20 % of that when the racket is not swung for the ball spinning in the range from -20 to 20 rev/s. In addition, we investigate the increase in swing speed of the racket due to flexibility of the swinging arm. We find that a flexible arm swings more rapidly than a rigid arm throughout the range of motion when exploiting the joint angle limit.
AB - Table-tennis robots struggle to return a spinning ball to the opponent' s court because the direction of bound depends on the direction and magnitude of the spin. We aim to solve this problem using a swing motion that is robust over a large range of spin patterns without accurate recognition of the spin. Specifically, we examine the relation between the swing speed and direction of return. When the racket speed is 7 m/s, the difference in the return direction is only 20 % of that when the racket is not swung for the ball spinning in the range from -20 to 20 rev/s. In addition, we investigate the increase in swing speed of the racket due to flexibility of the swinging arm. We find that a flexible arm swings more rapidly than a rigid arm throughout the range of motion when exploiting the joint angle limit.
UR - http://www.scopus.com/inward/record.url?scp=85097737277&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85097737277&partnerID=8YFLogxK
U2 - 10.1109/MHS48134.2019.9249276
DO - 10.1109/MHS48134.2019.9249276
M3 - Conference contribution
AN - SCOPUS:85097737277
T3 - MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science
BT - MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2019
Y2 - 1 December 2019 through 4 December 2019
ER -