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High-speed Throwing Motion Based on Wave Propagation

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The speed of robotic manipulation is slow at present although a mechanical system excels in the speed of motion fundamentally. In this paper the robotic throwing task is taken up in order to achieve high-speed robot manipulation. We propose a strategy focused on the superposition of wave patterns. In addition the contact model for ball control is analyzed. Experimental results are also shown in which a highspeed manipulator throws a ball toward targeted direction.




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