If you turn flexion up to 100% and stiffness up to 1000+% you can get a ball that only deforms a little bit.
Haven’t tried this, but you should be able to bake the clothilde animation with Capuccino (this is possible), then use Xpresso to drive your ball’s position with the position of one of the points from the baked object.
Or you could simply do it with f-curves. Adjust the y curve so it looks like a bouncing ball curve (example: https://tinyurl.com/58v45t) and then animate the x/y position to suit your needs.
Or lastly, you could by the PhyRis and/or Silver Bullet plugins by Remotion, which make hard-body physics very easy.