Analysis of nailing task motion for a humanoid robot

摘要

In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as ldquoimpact motionrdquo. In this research, a nailing task is taken as an example of impact motion. This paper presents a relationship between driving depth and force or impulse and analysis of impulsive force prediction model.