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We propose a method of controlling the paddle so' as 'to return the ball to a desired point on the table with a specified flight duration. The proposed method consists-of the following three input-output maps implemented by means of Locally Weighted Regression (LWR): (1) A map forpredicting the impact time of the ball hit by the paddle and the ball position and velocity at that moment according t o input vectors describing the state of the incoming ball, (2) A map representing a change in ball velocities before and after impact and (3) A map giving the relation between the ball velocity just after impact and the landing point and time of the retuned ball.We also propose a novel control scheme based on iterative learning control to accurately achieve the stroke movement of the paddle as detewnined by using these maps.