Planning and Control for Planar Batting and Hopping
Craig K. Black and Kevin M. Lynch
Abstract
Manipulation by batting and locomotion by hopping share several common features. We look at planning and control methods for these types of dynamic underactuated manipulation using predictive model optimization. This generates optimal control sequences for reaching a desired goal state. Results are given for disk batting simulations. Current work is focused on experimental implementation.See a video of the system in action.