Suppose a ball is dropped vertically downward, but it also given some spin along a horizontal axis. Then when the ball bounces, it will presumably pick up some horizontal velocity.
Is it possible for the ball to pick up this horizontal velocity without slipping against the ground? It would seem that, as the ball bounces, it would necessarily slip against the floor, dissipating energy. This is because the horizontal velocity of the outside edge of the ball, relative to the ground is $\omega r$ on impact.
We could minimize the distance the ball slips by increasing the friction coefficient. However, this increases the frictional force proportionately, so that even in the limit of infinite friction coefficient, the energy dissipated by slipping does not go to zero. Thus, it would seem that "bouncing without slipping" is not a valid description of something a ball can do.
However, some physics problems, such as problem 11 in this PDF, suggest that such a thing can happen. Where is the discrepancy?