Minimizing Wrist Displacement for Drum Stroke Spinova of Humanoid*

This paper focuses on implementing Spinova, a drum stroke often discovered when drummers hit a drum over a large distance in a limited amount of time, by minimizing wrist displacement. In order to execute the minimization at the right time, a triggering condition is introduced by appropriately quantifying the drum distance and stroke time length. The method is implemented on MOFFETT, a drumming humanoid platform capable of autonomous drumming based on a given drum score. Finally, the impact of Spinova on energy consumption and reaction torque on shoulder is analyzed.