Ball Control in High-speed Batting Motion
using Hybrid Trajectory Generator



Research

Speeding up of robot motion provides not only improvement of operating efficiency but also
dexterous manipulation taking advantage of unstable state or non-contact state.
In this paper, a hybrid trajectory generator is presented in order to produce high-speed manipulation.
This algorithm consists of both mechanical high-speed motion and sensor-based reactive motion.
As an example of high-speed manipulation, a robotic ball control in batting task has been realized.
Performance evaluation is also analyzed.