Investigation of hammering task and application based on its hit sound feedback motion with an industrial humanod robot

Abstract

The purpose of this study is to construct the automation technology based on the hammering task and its sound feedback with an industrial humanoid robot equipped with an integrated system of vision, sound and dual arm motion. First, we discuss a suitable flexible rubber stick to achieve the hammering task and developed the acoustic recognition system based on its hit sounds. Second, we confirm that the developed system is sufficient to investigate the task playing the glockenspiel, and also discuss the characteristics of motion based on dual arm motion. Third, we attempt to cooperate with hammering the bottle and pouring liquid into it based on estimating its hit sound. As a result, it can be seen that the proposed system using an industrial humanoid robot achieves sufficient motion accuracy. Therefore it is demonstrated that the proposed approach is found to be effective to construct the automation technology based on the hammering task and its sound feedback with an industrial humanoid robot.