Dynamic dexterity for the performance of "wall-bouncing" tasks

In this paper, we consider "wall-bouncing" task in which we repeat the process of hitting the ball that rebounds from the wall and the table as a typical example of dexterous batting tasks. Through the stability analysis of a discrete system, we reveal that the required dexterity varies depending on the location of equilibrium points, that is, the shape of the ball trajectory. A feedback control scheme for the paddle at the moment of impact is also proposed to continue the "wall-bouncing" task under disturbances.