Rolling manipulation for throwing breaking balls by changing grasping forms

The purpose of this work is to achieve high-speed dynamic manipulation. As one example, we deal with throwing a breaking ball. In this article we deal with two types of throwing with different grasping forms. We modeled a manipulator and a ball with a sphere rolling on the tip link of a three-degrees-of-freedom manipulator in the case where a ball is thrown with spin, and with a sphere held between the tip links in the case where the ball is thrown with less spin. We simulated the motion of the ball by using these models in each case. In addition, experimental results obtained with balls thrown by a high-speed manipulator showed that the spin rates with the two types of throwing differed by a factor of 4.3 at most.

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