Control of Percussion Motion by Sound Feedback with a Humanoid Robot

Abstract:

Nowadays, there are the demands for application of a humanoid robot in factory automation field. There have been some reports dealing with assembling the mechanical parts. Among these, we focus on the control of percussion motion with a humanoid robot. In the present report, we propose a flexible rubber stick to control the high accurate percussion motion. To control multimodal behavior, we look at a feedback method using a sound at the percussion motion. An attempt with a humanoid robot is performed to hit the small glockenspiel with recording the sounds. We investigate the experimental results by observing the motion with a high-speed camera and a gyro sensor. As a result, it can be seen that the proposed method is effective to control the high accurate percussion motion under industrial noisy conditions.

• Periodical: Key Engineering Materials (Volumes 523-524)
• Pages: 699-704
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.523-524.699
• Online since: November 2012
• Authors: Eiichhi Aoyama, Toshiki Hirogaki, Hirohumi Kiuchi, Yoshihisa Sugiura
• Keywords: Humanoid Robot, Multimodal, Percussion Motion, Rubber Sticks, Sound Feedback

References

[1] K.Hitomi, Manufacturing System Engineering, Kyoritu Shuppan, (2010) 196. (in Japanease)

[2] Tobais Rodemann, Martin Heckmann, Claudius Glaser, Frank Joublin and Christian Goerick, Towards Speech Acquisition in Natural Interaction on Asimo, Journal of The Robotics Society of Japan, (2010) 18-22.

DOI: 10.7210/jrsj.28.18

[3] K.Murata, K.Nakadai, R.Takeda, H.Okuno, Y.Hasegawa, H.Tsujino, Musical Beat-Tracking for Robots and Its Application to A Music Robot, Journal of The Robotics Society of Japan, (2009) 793-801. (in Japanease)

DOI: 10.7210/jrsj.27.793

[4] T.Izumi, Y.Hitaka, Control of a Hittng Velocity and Direction for a Hammering Robot Using a Flexible Link, Journal of The Robotics Society of Japan, (1993) 436-443. (in Japanease)

DOI: 10.7210/jrsj.11.436

[5] A.Yigit, R. A. Scott and A.Galip Ulsoy, Dynamics of Radially Rotating Beam with Impact, Part 1: Theoretical and Computational Model, Journal of Vibration and Acoustics, (1990) 65-70.

DOI: 10.1115/1.2930100

[6] A.Yigit, R.A. Scott and A.Galip Ulsoy, Flexural Motion of a Radially Rotating Beam Attached to a Rigid Body, Journal of Sound and Vibration 121(2), (1988) 201-210.

DOI: 10.1016/s0022-460x(88)80024-5

[7] Stefan Schaal, Shinya Kotosaka and Dagmar Sternad, Nonlinear Dynamical Systems as Movement Primitives, Proc. Humanoids 2000, IEEE RAS International Conf. Humanoid Robots, Piscataway, N. J., Sep., (2000)

[8] Suzuki.T, Yoshikawa.K, Checking Robot of the Field of Civil Engineering and Construction, Journal of the Robotics Society of Japan, (1986) 544-547. (in Japanease)

[9] M.Mizuno, H.Tsuchida, S.Hongo, T.Ijichi, S.Mizuno, K.Watanabe, Evaluation on Ripening Stage of Melon Fruits by Acoustic Impulse Response Method, Journal of the Japanese Society for Horticultural Science, (1991) 83-88 (in Japanease)

DOI: 10.2503/jjshs.60.83

[10] Yamamoto.H, Iwamoto.M, Haginuma.S, Nondestructive Acoustic Impulse Response Method for Measuring Internal Quality of Apples and Watermelons, Journal of the Japanese Society for Horticultural Science , (1981) 247-261.

DOI: 10.2503/jjshs.50.247

[11] T.Iwatubo, H.Matusita, Basic of Vibration Engineering, Morikita Publishing, (2008) 36-39. (in Japanease)