Patent ID: 11878229
Assignee: OMRON CORPORATION
Field: Furniture, games (Other fields)
Classification: CPC A  G | IPC A

Claim 7:
8. A stroke decision method in which a computer executes processing, the processing comprising:
acquiring state information including a position, a translational velocity, and a rotational velocity of an incoming ball;
deciding a stroke condition to control movement of a striking implement of a ball-returning robot which is configured to hit back the incoming ball, the stroke condition including a position, a velocity, and an orientation of the striking implement of the ball-returning robot at a time point of hitting back the ball, based on the state information for the ball and a target arrival position when hitting back the ball with the striking implement; and
sending, via a communication interface, the stroke condition to a control device to control the movement of the striking implement of the ball-returning robot,
wherein the deciding a stroke condition includes:
computing trajectory information relating to a predicted trajectory of the incoming ball based on the state information for the ball;
employing the trajectory information to set a strike position of the ball and to set post-strike state information including a post-strike velocity and a post-strike rotational velocity of the ball immediately after being struck;
computing a predicted arrival position based on the post-strike state information;
adjusting the post-strike velocity such that an error between the predicted arrival position and the target arrival position is within a permitted range; and
computing the velocity and the orientation of the striking implement such that the ball will conform to the post-strike state information when the ball conforming to the state information immediately prior to being struck is struck at the strike position.