力制御に基づくボールの打撃制御

抄録

Hitting control of a ball by a robot is expected to expand application of robots to sports. While hitting control is conducted by some researchers, many hitting motion is generated based on position control. Considering accurate impact motion between a ball and impact surface, it is desirable to focus on interaction force as well as position. This paper compares position control, open-loop force control, and sensorless force control in one-degree-of-freedom hitting motion.