ヒューマノイドロボットを用いた打撃音フィードバックシステムの開発 : 鉄琴演奏をタスクとした打撃動作の検討

概要

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Traditionally, industrial robots are controlled by teaching and playback programming method in the factory automation fields. This technology has been useful and excellent to conduct the same monotonous task over and over with them. However, an autonomous control method has gained attention as novel tools in the factory automation field of next generation. We therefore focus on a multi-functional humanoid robot to conduct the flexible and complicated tasks without teaching and playback programming in the factory fields. It is well known that the hitting process is one of the most difficult tasks among the autonomous motions. In the present report, we attempt to develop the hitting motion system of metallophone based on feedback control of hitting sound with it.