| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce the loads of impact on arms, etc. of a robot when the robot beats a drumming face of a percussion instrument, and to reduce the power consumption of the robot. Ž<P>SOLUTION: The percussion manipulator 10 includes a palm part 23f for moving a stick 31, and an electric motor 13 for applying the rotation force for turning the tip of the stick 31 toward the drumming face 30a of the percussion instrument 30 to the palm part 23f. The electric motor 13 brakes the stick 31 by collecting the rotation force of the stick 31 bounded by the collision with the drumming face 30a in the direction opposite from the drumming face 30a as the electric power. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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