Abstract
Impact manipulation is an operation which a manipulator's hand impacts on an object and generates an impulsive force. In impact manipulation, apparent inertia of manipulator's hand affects an impulsive force and hand's velocity change. In this paper, we construct a manipulator's model which is considered manipulator's dynamics and estimate the impulsive force and hand's velocity change using this model. And we verify that manipulator's hand can get a larger velocity after impact than before impact in the tangential direction of impact surface by impact manipulation from the results of simulations and experiments.
