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156958 https://hdl.handle.net/2286/R.I.51733 http://rightsstatements.org/vocab/InC/1.0/ 2018 98 pages Masters Thesis Academic theses Text eng DAS, NIRANGKUSH Rodriguez, Armando A Berman, Spring M Artemiadis, Panagiotis Arizona State University Masters Thesis Mechanical Engineering 2018 Toward the ambitious long-term goal of developing a robotic circus, this thesis addresses key steps toward the development of a ground robot that can catch a ball. Toward this end, we examine nonlinear quadratic drag trajectories for a tossed ball. Relevant least square error fits are provided. It is also shown how a Kalman filter and Extended Kalman filter can be used to generate estimates for the ball trajectory.<br/><br/> Several simple ball intercept policies are examined. This includes open loop and closed loop policies. It is also shown how a low-cost differential-drive research grade robot can be built, modeled and controlled. Directions for developing more complex xy planar intercept policies are also briefly discussed. In short, the thesis establishes a foundation for future work on developing a practical ball catching robot. Mechanical Engineering Trajectory Modeling, Estimation and Interception of a Thrown Ball using a Robotic Ground Vehicle