An Impact Motion Generation Support Software

摘要

The detail of impact motion generation support software is presented in this paper. The\ndeveloped software supports impact motion design with OpenHRP or OpenHRP3. A\npreliminary impact motion experiment is performed by a humanoid robot and the analyses\nof its result are presented. The analysis reveals that the designed motion is not robust\nagainst error in the position of the nail since the timing of pulling up the hammer is defined\nin the designed motion in advance. Therefore, a robust feedback control method for driving\na nail is required.\nThe motions which are described in this paper are designed heuristically. However, the\ndeveloped software can communicate with OpenHRP3 and use MATLAB toolboxes. As a\nnext step, an impact motion will be optimized by using these features.