Shooting a Basket
The following is an open loop trajectory that was planned in a
10-dimensional state space for a humanoid. The goal is to get the
humanoid to correctly shoot the ball to make a basket. The solution
is represented as forces applied to the arm motors over time. The
proper force is applied to the ball in the last instant, and the ball
enters the basket.
Below are four snapshots of the computed trajectory:
Finally, the trajectory of the ball is shown.
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