一対のエアジェットによる球状物体のピッチングキャッチング

―ミラーアルゴリズムの提案―

抄録

This paper discusses how to achieve pitching and catching of a spherical object between a pair of air jet. The object is floated above an air jet stream with a Coanda effect and then is launched from a pitching nozzle to be captured by a catching nozzle. Based on mechanical intuition of symmetrical structure of the pitching and catching system, we propose a “mirror algorithm” to determine the angle and the air jet flow rate of each nozzle. Its control parameters are optimized with a machine learning approach based on the ball catching skill by a human. Some successful experimental results with a 10 cm-diameter styrofoam ball for about 0.5 m distant flying are given.