Ace! Motion Planning of Professional-Level Table Tennis Serves with a Robot Arm

摘要

Table tennis, a dynamic, compact, and popular sport, has received significant attention as a robotics benchmark over the last decades. Most of the research has focused on the rally aspect - returning an incoming ball - requiring high-speed vision, agile motion planning, and tight closed-loop control. However, the other component of table tennis gameplay - the serve - is comparatively a quite unexplored research problem, that in fact requires pushing physics modeling and control to the extremes. Achieving competitive serves with a robot presents domain-specific challenges, such as high-spin generation from a spinless ball, precise aiming, or multi-objective optimization. In this work, we present a novel approach for generating official rule-compliant serves by combining motion primitives, Model Predictive Control, and Bayesian Optimization. Serves generated in this way offer a wide and controllable variation of spins of up to 550 rad/s, and speeds of up to 6.7 m/s, matching and even surpassing those of elite table tennis players.