1-DOF dynamic pitching robot that independently controls velocity, Angular velocity, and direction of a ball: Contact models and motion planning. - Wataru Mori; Jun Ueda; Tsukasa Ogasawara (ICRA, 2009)

A 1-d.o.f. Dynamic Pitching Robot That Independently Controls Velocity, Angular Velocity and Direction of a Ball. - Wataru Mori; Jun Ueda; Tsukasa Ogasawara (Adv. Robotics, 2010)