Athletic Mobile Manipulator System for Robotic Wheelchair Tennis

Athletics are a quintessential and universal expression of humanity. From French monks who in the $12{\text{th}}$ century invented jeu de paume , precursor to modern lawn tennis, back xmlns:xlink="http://www.w3.org/1999/xlink">K'iche' people played Maya Ballgame as form religious over three thousand years ago, humans have sought train their minds bodies excel sporting contests. Advances robotics opening up possibility robots sports. Yet, key challenges remain, most prior works for sports limited pristine sensing environments, do not require significant force generation, or on miniaturized scales unsuited joint human-robot play. In this letter, we propose first open-source, autonomous robot playing regulation wheelchair tennis. We demonstrate performance our full-stack system executing xmlns:xlink="http://www.w3.org/1999/xlink">ground strokes evaluate each system's hardware software components. The goal letter is (1) inspire more research human-scale athletics (2) establish baseline reproducible tennis singles Our paper contributes science systems design poses set community address striving towards that can match human capabilities