Investigation of impact task performed by humanoid robot using input shaping control method

摘要

This study examines the use of a humanoid robot for not only entertainment but also industrial tasks in a human-occupied environment. An impact task model based on input shaping control of a robot hand equipped with a flexible rubber stick (RS) is discussed and its efficacy is demonstrated. To maintain safety, limited space and a low-power servo motor are considered. The input shaping amplifies necessary vibration while reducing unnecessary vibration. The humanoid robot performs the impact task with high accuracy using the flexible RS and also realizes efficient motion via a double arm. The proposed approach has potential for both industrial and entertainment applications of a humanoid robot in a human-occupied environment.