BatterBot

Dec 2023

We designed a robotic system to play baseball in Drake using trajectory optimization.

Baseball is task that contains two interesting manipulation paradigms: Pitching & Hitting. There is limited literature on nonprehensile manipulation for dynamic aerial objects. We approach this using planning techniques including inverse kinematics & kinematic trajectory optimization.

This project was done for 6.4200 (Robotic Manipulation) & the code can be found here

Methods

Some key results of our approach after testing are below:

In-depth explanation can be found below.

Code

Video Presentation

Project Presentation:

Project Report: