  Highly dynamic robotic tasks require high-speed and reactive robots. These
tasks are particularly challenging due to the physical constraints, hardware
limitations, and the high uncertainty of dynamics and sensor measures. To face
these issues, it's crucial to design robotics agents that generate precise and
fast trajectories and react immediately to environmental changes. Air hockey is
an example of this kind of task. Due to the environment's characteristics, it
is possible to formalize the problem and derive clean mathematical solutions.
For these reasons, this environment is perfect for pushing to the limit the
performance of currently available general-purpose robotic manipulators. Using
two Kuka Iiwa 14, we show how to design a policy for general-purpose robotic
manipulators for the air hockey game. We demonstrate that a real robot arm can
perform fast-hitting movements and that the two robots can play against each
other on a medium-size air hockey table in simulation.
