産業用ヒューマノイドロボットによる打撃音フィードバックを用いたミュージカルソーのチューニング制御の考察

抄録

We attempt to construct a novel automation technology based on the hammering task and its sound feedback process with an industrial humanoid robot equipped with an integrated system of vision, sound and dual arm motion. First, we focus on a musical saw to achieve a tuning motion as its basic study because it is considered to be difficult to control a kind of unknown and unclear tool under beginning operation. Second, we discuss its characteristics to develop the tuning motion based on dual arm motion and sound feedback system. Third, we attempt to cooperate on hammering task by right arm and bending task by left arm for the musical saw with estimating its hit sound. As a result, it can be seen that the proposed system using an industrial humanoid robot makes it feasible to achieve sufficient tuning motion for the musical saw such as unknown and unclear tool. Therefore it is demonstrated that the proposed approach is found to be useful to construct the automation technology based on the hammering task and its sound feedback process with an industrial humanoid robot.