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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