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To approach the level of advanced human players in table tennis with robots,generating varied ball trajectories in a reproducible and controlled manner isessential. Current ball launchers used in robot table tennis either do notprovide an interface for automatic control or are limited in their capabilitiesto adapt speed, direction, and spin of the ball. For these reasons, we presentAIMY, a three-wheeled open-hardware and open-source table tennis ball launcher,which can generate ball speeds and spins of up to 15.4 ms-1 and 192 s-1,respectively, which are comparable to advanced human players. The wheel speeds,launch orientation and time can be fully controlled via an open Ethernet orWi-Fi interface. We provide a detailed overview of the core design features, aswell as open source the software to encourage distribution and duplicationwithin and beyond the robot table tennis research community. We alsoextensively evaluate the ball launcher's accuracy for different system settingsand learn to launch a ball to desired locations. With this ball launcher, weenable long-duration training of robot table tennis approaches where thecomplexity of the ball trajectory can be automatically adjusted, enablinglarge-scale real-world online reinforcement learning for table tennis robots.

AIMY: An Open-source Table Tennis Ball Launcher for Versatile and High-fidelity Trajectory Generation