@inproceedings{1a94ab1005714a72953b6f1a4707d60e,
title = "Time-optimal paths for a robotic batting task",
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.",
keywords = "Dynamic nonprehensile manipulation, Optimal trajectory planning, Robotic batting task",
author = "Diana Serra and Fabio Ruggiero and Satici, {Aykut C.} and Vincenzo Lippiello and Bruno Siciliano",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG 2018.; 13th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2016 ; Conference date: 29-07-2016 Through 31-07-2016",
year = "2018",
doi = "10.1007/978-3-319-55011-4_13",
language = "English",
isbn = "9783319550107",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "256--276",
editor = "Dimitri Peaucelle and Kurosh Madani and Oleg Gusikhin",
booktitle = "Informatics in Control, Automation and Robotics - 13th International Conference, ICINCO 2016",
address = "Germany",
}