Realization of the Table Tennis task based on Virtual Targets

Abstract

This paper describes how a table tennis robot with a fiat paddle coordinates its movement in order to achieve efficient strokes for any given ball. We pro-pose a method of generating stroke movement based on virtual targets that means the point at which the ball should be struck and the paddle velocity just be-fore hitting the ball. These targets are predicted us-ing inputs-outputs maps implemented efficiently by means of a k-d tree (k dimensional tree). The paddle approaches these targets by using a visual feedback control scheme similar to the mirror law proposed by Koditschek. The results of the implementation are also given to show the effectiveness of the proposed method