{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:37:24Z","timestamp":1762522644186,"version":"build-2065373602"},"reference-count":39,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,10,15]],"date-time":"2021-10-15T00:00:00Z","timestamp":1634256000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Catching flying objects is a challenging task in human\u2013robot interaction. Traditional techniques predict the intersection position and time using the information obtained during the free-flying ball motion. A common pain point in these systems is the short ball flight time and uncertainties in the ball\u2019s trajectory estimation. In this paper, we present the Robot Anticipation Learning System (RALS) that accounts for the information obtained from observation of the thrower\u2019s hand motion before the ball is released. RALS takes extra time for the robot to start moving in the direction of the target before the opponent finishes throwing. To the best of our knowledge, this is the first robot control system for ball-catching with anticipation skills. Our results show that the information fused from both throwing and flying motions improves the ball-catching rate by up to 20% compared to the baseline approach, with the predictions relying only on the information acquired during the flight phase.<\/jats:p>","DOI":"10.3390\/robotics10040113","type":"journal-article","created":{"date-parts":[[2021,10,18]],"date-time":"2021-10-18T13:59:52Z","timestamp":1634565592000},"page":"113","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Robot Anticipation Learning System for Ball Catching"],"prefix":"10.3390","volume":"10","author":[{"given":"Diogo","family":"Carneiro","sequence":"first","affiliation":[{"name":"Department of Electronics, Telecommunications and Informatics, Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro, 3810-193 Aveiro, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6191-0727","authenticated-orcid":false,"given":"Filipe","family":"Silva","sequence":"additional","affiliation":[{"name":"Department of Electronics, Telecommunications and Informatics, Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro, 3810-193 Aveiro, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6424-6590","authenticated-orcid":false,"given":"Petia","family":"Georgieva","sequence":"additional","affiliation":[{"name":"Department of Electronics, Telecommunications and Informatics, Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro, 3810-193 Aveiro, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Nemec, B., and Ude, A. 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