29 Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot.pdf

29 Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot Atsushi Konno, Takaaki Matsumoto, Yu Ishida, Daisuke Sato Masaru Uchiyama Tohoku University Japan 1. Introduction Over the past few decades a considerable number of studies have been made on impact dynamics. Zheng and Hemami discussed a mathematical model of a robot that collides with an environment (Zheng Hemami, 1985). When a robot arm fixed on the ground collides with a hard environment, the transition from the free space to constrained space may bring instability in the control system. Therefore, the impact between robots and environments has been the subject of controversy. Asada and Ogawa analyzed the dynamics of a robot arm interacting with an environment using the inverse inertia matrices (Asada Ogawa, 1987). In the early 90’s, the optimum approach velocity for force-controlled contact has been enthusiastically studied (Nagata et al., 1990, Kitagaki Uchiyama, 1992). Volpe and Khosla proposed an impact control scheme for stable hard-on-hard contact of a robot arm with an environment (Volpe Khosla, 1993). Mills and Lokhorst proposed a discontinuous control approach for the tasks that require robot arms to make a transition from non-contact motion to contact motion, and from contact motion to non-contact motion (Mills Lokhorst, 1993). Walker proposed measures named the dynamic impact measure and the generalized impact measure to evaluate the effects of impact on robot arms (Walker, 1994). Mandal and Payandeh discussed a unified control strategy capable of achieving a stable contact against both hard and soft environment (Mandal Payandeh, 1995). Tarn et al. proposed a sensor-referenced control method using positive acceleration feedback and switching control strategy for robot impact control (Tarn et al., 1996). Space robots does not have fixed bases, therefore, an impact with other free-floating objects may bring the space robots a catastrophe. In order to m