Teaching robots to handle a hammer properly is easier said than done. Researchers have pulled it off with a Torobo, which is a humanoid robot measuring 1.66m with a reach of 0.68m. It has 7-axis dual arms to take on a variety of tasks. As the researchers explain, the rebound force from the hammer is absorbed:
through a combination of the elasticity of the rubber material securing the hammer, the deflection in torque sensors and harmonic gears, backdrivability, and impedance control. This allows the nail to be driven with a certain amount of force.
[HT]