Control of Percussion Motion by Sound Feedback with a Humanoid Robot

摘要

Nowadays, there are the demands for application of a humanoid robot in factory automation field. There have been some reports dealing with assembling the mechanical parts. Among these, we focus on the control of percussion motion with a humanoid robot. In the present report, we propose a flexible rubber stick to control the high accurate percussion motion. To control multimodal behavior, we look at a feedback method using a sound at the percussion motion. An attempt with a humanoid robot is performed to hit the small glockenspiel with recording the sounds. We investigate the experimental results by observing the motion with a high-speed camera and a gyro sensor. As a result, it can be seen that the proposed method is effective to control the high accurate percussion motion under industrial noisy conditions.