Planning and Control for Planar Batting and Hopping 36th Annual Allerton Conference on Communication, Control, and Computing 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.
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