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


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.