Robotic Boomerang Throwing via Model-Based Release Design

2026-10-07

AI Summary

This study addresses the challenge of enabling robotic manipulators to replicate high-speed human motions required for stably releasing boomerangs and achieving aerodynamically governed, non-ballistic return flights. To this end, it proposes a model-based, phased flight dynamics framework that identifies robust release states via parameter sensitivity screening and jointly optimizes six-degree-of-freedom constrained motion planning with boomerang design. This work demonstrates the first autonomous return flight of a robot-thrown boomerang. Experiments reveal release angular velocities reaching 51 rad/s, maximum flight distances of 2.03 meters, and landing points merely 0.31 meters from the base. Ultimately, this research establishes that robots can accomplish complex aerodynamic manipulation objectives without mimicking human movements, thereby transcending the limitations inherent in conventional imitation learning paradigms.

Abstract

Throwing objects that generate aerodynamic lift can greatly extend robot throwing beyond ballistic flight. A returning boomerang is a challenging example because its flight depends strongly on the release velocity, attitude, and spin, while robotic manipulators cannot readily reproduce the rapid motions used in human throwing. We present a model-based framework for robotic boomerang throwing centered on the release state. We identify the boomerang flight dynamics in stages to predict how flight changes across design variations. To systematically design the robot throwing motion, we screen candidate parameters according to how strongly and consistently they control release spin under uncertain contact conditions. These models are then used to design the throwing motion and boomerang for a 6-DoF manipulator with limited joint speeds. To our knowledge, this is the first robotic manipulator to generate a returning boomerang flight. In the demonstrated returning trial, the boomerang is released at 51 rad/s (8.1 rev/s), reaches 2.03 m from the robot base, and returns to touch down 0.31 m from the base. The successful release differs significantly from the measured human throws, showing that a robot need not imitate human throwing motion to achieve a returning flight. The project page is available at https://robot-boomerang.github.io

Problem

• robotic throwing
• boomerang
• aerodynamic lift
• release state
• manipulator

Innovation

• Robotic boomerang throwing
• Model-based release design
• Flight dynamics identification
• Aerodynamic lift
• 6-DoF manipulator