Paddle Trajectory Optimization for Table Tennis in 2-D
نویسنده
چکیده
We present an optimal controls algorithm to find paddle trajectories in order to control a ball in table tennis so that the resulting ball trajectory achieves a set of objectives, such as hitting a particular spot on the other side of the table. The system we wish to control is an underactuated one. It consists of both the paddle and ball state (positions and velocities), but we can only directly control the paddle’s accelerations. We give experimental results in a simulated 2-D environment, and show that our technique works for a wide variety of initial conditions, and is also somewhat tolerant to noisy state estimation.
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