While it might look impressive, the robots "dribbling" the ball occurred purely by accident.  All the calculations to perform open loop manipulation were done in Matlab which output 4 files containing encoder counts for each robot.  These files are then read by the controlling computer and position commands are implemented by the motion control boards.  There just happened to be the right kind of glitch in my code to cause this movement of the robots.  In the beginning of the video, the robots have just finished a Lie bracket motion and rotated the ball prior to dropping it.  After catching the ball off the bounce, they continue on with another Lie bracket motion.

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