Abstract
The performance of golf clubs evaluated by golf-swing robots often becomes unreliable because the robot can not emulate an advanced golfer in the robotic swing motion. In this study, a new golf-swing robot that can adjust its motion to the characteristics of individual golf clubs by emulating golfer's skill is investigated analytically and experimentally. The wrist set as a passive joint is able to be released freely, and the shoulder is controlled by feed-forward controller in order to realize the efficient swing motion like an advanced golfer. It was clarified that the torque planning of the shoulder joint set as multiple modulation can realize skills on wrist turn and efficient swing motion.