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.

The objective of this study was to automate the dual-arm coordination of a humanoid robot when using a musical saw as a percussion instrument to produce a target sound. We examined the striking motion of the robot using its elastic stiffness, the change in vibration caused by the striking tool resulting from the robot arm-applied force on the saw, and dual arm cooperative motion based on striking sound feedback. To accomplish this, the frequency characteristics of the musical saw and the location of sound generation were determined. Based on the characteristics of the striking task and using an acoustic recognition system, we then developed an impact sound feedback system that could provide performance control of the two humanoid robot arms. The results indicate that humanoid robot can play the musical saw by controlling the curvature freely to achieve target sounds.

This study aimed to automate the hammering action and dual arm coordination of a humanoid robot using percussion instruments such as musical saw. In this report, we examined the hammering motion of the robot by using its elastic stiffness, the vibration reduction method of the hitting tool caused by the movement of the robot arm, and dual arm cooperative motion based on hammering sound feedback. The experimental results show that the humanoid robot can play the musical saw without making an S-shaped curve, as performed by humans. By considering these nonlinearities through the mathematical expression of the relationship among frequency, deflection, length of beam, and fulcrum deviation, an arbitrary scale can be generated in the saw. Based on the hammering task and acoustic recognition system, we developed an impact sound feedback system. It was possible to converge to the target frequency of the musical saw through the hammering sound feedback operation.

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